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FOLD
AC Servo Drives
Series
Product Catalog
Certified for
ISO9001 and
ISO14001
JQA-EM0202
JQA-EM0924
JQA-0422
ENVIRONMENTAL
SYSTEM
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QUALITY SYSTEM
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Features
Superlative
Performance
0
Settling Time 0 to 4 ms
Reference Speed
Position Error
Positioning Completed
Servo Adjustment Example: When the ball screw slider was
run using a combination of the SGMJ V-02ADA servomotor
and SGDV-1R6A SERVOPACK.
You want maximum effect quickly and easily,
as does every engineer in the field.
And now the series is here with
the practical answer to your dreams!
How many times have you heard people say servos need
adjustment to work well? Our new tuning-less function
means it works as soon as you hook it up!
And if you want more performance than ever before,
the series advanced autotuning function lets
you set up for it rapidly.
Advanced technology makes possible a host of safety
standards compliance for the first time in J apan (as of April 2007),
compliance with key international standards, a diverse motor
line-up, compact size, high speed and simple maintenance:
everything you need to answer todays requirements.
Safety Stop-0 (Standard)
Safety Standards
International Standards
RoHS Directive
RoHS Directive Stands for the EU directive on the Restriction of
the Use of Certain Hazardous Substances in Electrical
and Electronic Equipment.
AC servo drive
Sigma Five
In-house comparison: 1/12th
Operate your machinery faster and
with higher precision than ever!
The delivers the highest
performance in the industry.
Improved motor constants have reduced
both losses and heating.
The best amplifier response
in the industry slashes settling time
Enhanced vibration suppression
Existing functions to minimize vibration have been enhanced, and new ones added,
improving tracking and further improving settling time. Vibration and noise during
driving have also been cut, along with vibration at machine edges when stopping.
* Representative value when using a combination of the SGMAV-02ADA servomotor
and SGDV-1R6A SERVOPACK at one time of the load moment of inertia ratio.
Contributing to machine performance in conjunction with a medium-inertia motor
SGMJ V Series SGMGV Series
1.6 kHz
Outstanding
frequency response
Build the machine youve
dreamed of, today!
Medium Capacity Small Capacity
Low Heating
Instantaneous peak torque has been boosted from
300% to 350%, contributing to shorter cycle times
Better Cycle Time
Smaller package and about 20% lighter, but with the
same moment of inertia ratio as the conventional
model. A small encoder connector is applied.
Compact Design
New coupling delivers typical 5G
vibration resistance
Improved Vibration Resistance
Ease of Use
Encoder resolution
1,048,576 pulses/revolution
Moment of inertia ratio has been
doubled in the same motor,
reducing the moment of inertia ratio
and boosting gain for faster settling
*
Features
Features
Superlative
Performance
0
Settling Time 0 to 4 ms
Reference Speed
Position Error
Positioning Completed
Servo Adjustment Example: When the ball screw slider was
run using a combination of the SGMJ V-02ADA servomotor
and SGDV-1R6A SERVOPACK.
You want maximum effect quickly and easily,
as does every engineer in the field.
And now the series is here with
the practical answer to your dreams!
How many times have you heard people say servos need
adjustment to work well? Our new tuning-less function
means it works as soon as you hook it up!
And if you want more performance than ever before,
the series advanced autotuning function lets
you set up for it rapidly.
Advanced technology makes possible a host of safety
standards compliance for the first time in J apan (as of April 2007),
compliance with key international standards, a diverse motor
line-up, compact size, high speed and simple maintenance:
everything you need to answer todays requirements.
Safety Stop-0 (Standard)
Safety Standards
International Standards
RoHS Directive
RoHS Directive Stands for the EU directive on the Restriction of
the Use of Certain Hazardous Substances in Electrical
and Electronic Equipment.
AC servo drive
Sigma Five
In-house comparison: 1/12th
Operate your machinery faster and
with higher precision than ever!
The delivers the highest
performance in the industry.
Improved motor constants have reduced
both losses and heating.
The best amplifier response
in the industry slashes settling time
Enhanced vibration suppression
Existing functions to minimize vibration have been enhanced, and new ones added,
improving tracking and further improving settling time. Vibration and noise during
driving have also been cut, along with vibration at machine edges when stopping.
* Representative value when using a combination of the SGMAV-02ADA servomotor
and SGDV-1R6A SERVOPACK at one time of the load moment of inertia ratio.
Contributing to machine performance in conjunction with a medium-inertia motor
SGMJ V Series SGMGV Series
1.6 kHz
Outstanding
frequency response
Build the machine youve
dreamed of, today!
Medium Capacity Small Capacity
Low Heating
Instantaneous peak torque has been boosted from
300% to 350%, contributing to shorter cycle times
Better Cycle Time
Smaller package and about 20% lighter, but with the
same moment of inertia ratio as the conventional
model. A small encoder connector is applied.
Compact Design
New coupling delivers typical 5G
vibration resistance
Improved Vibration Resistance
Ease of Use
Encoder resolution
1,048,576 pulses/revolution
Moment of inertia ratio has been
doubled in the same motor,
reducing the moment of inertia ratio
and boosting gain for faster settling
*
Features
iii
Features
Simple
Start-up
Making servo adjustment
quick and simple
Let the series
simplify your life!
Unpacking
Installation and
Wiring
Basic Parameter
Setting
Trial Operation
Gain and Filter
Adjustment
Operation
Optimal selection for
your application:
With consideration of moment
of inertia, DB resistance, etc.
Faster Troubleshooting
Selection
SigmaWin+
SigmaWin+
SigmaJ unmaSize+
Servomotor capacity selection software
Engineering tool
Alarm diagnostic function:
Presumes possible causes of the alarm and
immediately displays suggested corrective actions.
Maintenance
Get up and running quickly after
hooking up the motor
Settling time: 100 to 150 ms level
New Tuning-less Function
Even without servo adjustment and with load
changes, oscillation- and vibration-free drive is
possible up to 20 times the load moment of inertia.
Minimize settling time with
less vibration
Settling time: 10 ms level
New Advanced
Autotuning
The reference filter and feedback gain adjustment
functions have a new automatic feed forward gain
adjustment for optimal adjustment performance.
The friction compensation function automatically cancels
out the effect of friction on machine characteristics.
Fine-tuning is a must
New One-parameter
Tuning
Fine-tuning can tweak machine performance to
the max.
Faster setup Simple Tuning
Alarm
Diagnostic
Information
Setup Wizard
Wiring Check Function
The SigmaWin+ wiring check function checks
your wiring in a single operation
Trace Function
Realtime trace of adjustment state
means you can check instantly.
Simple parameter set-up with
wizard-aided input
Full of handy functions for start-up and more effective operation!
New Advanced
Autotuning Window
USB1.1 Support
iv
Features
Simple
Start-up
Making servo adjustment
quick and simple
Let the series
simplify your life!
Unpacking
Installation and
Wiring
Basic Parameter
Setting
Trial Operation
Gain and Filter
Adjustment
Operation
Optimal selection for
your application:
With consideration of moment
of inertia, DB resistance, etc.
Faster Troubleshooting
Selection
SigmaWin+
SigmaWin+
SigmaJ unmaSize+
Servomotor capacity selection software
Engineering tool
Alarm diagnostic function:
Presumes possible causes of the alarm and
immediately displays suggested corrective actions.
Maintenance
Get up and running quickly after
hooking up the motor
New Tuning-less Function
Even without servo adjustment and with load
changes, oscillation- and vibration-free drive is
possible up to 20 times the load moment of inertia.
Minimize settling time with
less vibration
Settling time: 10 ms level
New Advanced
Autotuning
The reference filter and feedback gain adjustment
functions have a new automatic feed forward gain
adjustment for optimal adjustment performance.
The friction compensation function automatically cancels
out the effect of friction on machine characteristics.
Fine-tuning is a must
New One-parameter
Tuning
Fine-tuning can tweak machine performance to
the max.
Faster setup Simple Tuning
Alarm
Diagnostic
Information
Setup Wizard
Wiring Check Function
The SigmaWin+ wiring check function checks
your wiring in a single operation
Trace Function
Realtime trace of adjustment state
means you can check instantly.
Simple parameter set-up with
wizard-aided input
Full of handy functions for start-up and more effective operation!
New Advanced
Autotuning Window
USB1.1 Support
v
Outstanding
Expandability
The first in the industry in Japan!
Standard support for analog voltage/pulse train reference series
or MECHATROLINK-II communications reference series
A rich selection of models and
options to match your requirements
Use servos that really fit
into your system
Extensive variety of motors to match any machine
Selection of servo actuators
Wide selection of option
modules for various
communication interfaces
and feedback
Medium-inertia servomotors Improved control stability
Low-inertia servomotors High-speed acceleration and deceleration
Support for direct drive servomotors, linear servomotors and linear sliders
Easy compliance with machine safety standards
Compliant with applicable
safety standards
Option
Module
Motor line-up to handle a wide range of markets and applications
Moment of Inertia Ratio
R
e
s
o
l
u
t
i
o
n
(as of April 2007)
Semiconductors
(Bonders)
SGMAV (20 bit)
SGMSV (20 bit)
Low Inertia
Linear (High resolution)
SGMJ V (20 bit)
SGMPS (17 bit)
SGMGV (20 bit)
Medium Inertia
SGMJ V (13 bit)
Medium Inertia
Semiconductors
(Probes)
Machine tools,
MC lathes/grinders
Electronic
Components
Food Packaging
Textiles
Material Handling
Injection molding machines
Metal processing
Robot articulated/
scalar/extraction
LCD
scribers
LCD coater/
dispensers
Product Line-up
Product Line-up
vi
Outstanding
Expandability
The first in the industry in Japan!
Standard support for analog voltage/pulse train reference series
or MECHATROLINK-II communications reference series
A rich selection of models and
options to match your requirements
Use servos that really fit
into your system
Extensive variety of motors to match any machine
Selection of servo actuators
Wide selection of option
modules for various
communication interfaces
and feedback
Medium-inertia servomotors Improved control stability
Low-inertia servomotors High-speed acceleration and deceleration
Support for direct drive servomotors, linear servomotors and linear sliders
Easy compliance with machine safety standards
Compliant with applicable
safety standards
Option
Module
Motor line-up to handle a wide range of markets and applications
Moment of Inertia Ratio
R
e
s
o
l
u
t
i
o
n
(as of April 2007)
Semiconductors
(Bonders)
SGMAV (20 bit)
SGMSV (20 bit)
Low Inertia
Linear (High resolution)
SGMJ V (20 bit)
SGMPS (17 bit)
SGMGV (20 bit)
Medium Inertia
SGMJ V (13 bit)
Medium Inertia
Semiconductors
(Probes)
Machine tools,
MC lathes/grinders
Electronic
Components
Food Packaging
Textiles
Material Handling
Injection molding machines
Metal processing
Robot articulated/
scalar/extraction
LCD
scribers
LCD coater/
dispensers
Product Line-up
Product Line-up
Servomotors
Rotary Servomotors (Small Capacity)
SGMJ V: 50 W to 750 W
(Medium Inertia, Small Capacity)
SGMAV: 50 W to 1 kW
(Low Inertia, Small Capacity)
SGMGV: 300 W to 15 kW
(Medium Inertia, Medium Capacity)
SGMCS: 2 to 3.5 Nm
(Small Capacity)
SGMCS: 45 to 200 Nm
(Medium Capacity)
SGLGW (Coreless Type)
12.5 to 750 N
SGLFW (With F-type Iron Core)
25 to 1120 N
SGLTW (With T-type Iron Core)
130 to 1300 N
SERVOPACKs with AC Power Input
Analog Voltage/Pulse
Train Reference
SGDV-01/05 SGDV-11/15
MECHATROLINK-II
Reference
Linear Servomotors
Linear Series
Linear Slides -Trac Series
SGMSV: 1.0 kW to 7.0 kW
(Low Inertia, Medium Capacity)
Rotary Servomotors (Medium Capacity) Direct Drive Servomotors
SGT1F ( -Trac)
47 to 560 N
Command Option
Attachable Type
Available Option Modules include:
EtherCAT (CoE) Communication
Fully Closed Loop Control
MP2600iec Single Axis Controller
Functional Safety
Indexer
SGDV-21/25
MECHATROLINK-III
Reference
SGMMV: 3.3 W to 30 W
(Low Inertia Inertia, Small Capacity)
SGDV with Additional Options
SERVOPACKs with DC Power Input
Analog Voltage
Reference
Pulse Train
Reference
MECHATROLINK-III
Reference
MECHATROLINK-II
Reference
SGDV-ES1 SGDV-EP1 SGDV-E11 SGDV-E21
vii
Product Line-up
Stock Status Definitions
The product selection tables in this catalog contain stock status codes, which are subject to
change. The codes are defined below:
S Stock Item
Normally 3 to 5 days leadtime for most order quantities. 3 to 5 weeks maximum if
temporary outages occur. For critical lead time or large quantity shipments, check with
your Yaskawa sales representative.
LS Limited Stock Item
Typically small quantites are available from stock. Items may become stock items as
demand increases.
NS Non-Stock Item
Non-stock items typically carry a 12 - 16 week delivery time.
GS Global Support Item
Global Support Products are non-stock items that are not promoted in North America.
Delivery is typically 14-20 weeks depending on price availability. Local repair and
service capabilities may be limited. Customers should consider stock or limited stock
substitutes if possible. Global Support Products are found on some machines imported
to North America. In many cases the fastest delivery of spare parts can be obtained
by contacting the original machine builder. Yaskawa Electric America can make special
arrangements for servicing customers on a contract basis.
viii
Product Line-up
Rotary Servomotor Model Capacity
SERVOPACK Model SGDV- Stock
Status
Single-phase 100 VAC Three-phase 200 VAC Three-phase 400 VAC
SGMMV (Ultra-Small
Capacity) 3000RPM
SGMMV-A1A 10 W
R90F R90A
S SGMMV-A2A 20 W
SGMMV-A3A 30 W 2R1F 1R6A
SGMJ V
(Medium Inertia,
Small Capacity)
3000RPM
SGMJ V-A5A 50 W R70F R70A
S
SGMJ V-01A 100 W R90F R90A
SGMJ V-C2A 150 W 2R1F 1R6A
SGMJ V-02A 200 W 2R1F 1R6A
SGMJ V-04A 400 W 2R8F 2R8A
SGMJ V-06A 600 W 5R5A
SGMJ V-08A 750 W 5R5A
SGMAV
(Low Inertia,
Small Capacity)
3000RPM
SGMAV-A5A 50 W R70F R70A
S
SGMAV-01A 100 W R90F R90A
SGMAV-C2A 150 W
2R1F 1R6A
SGMAV-02A 200 W
SGMAV-04A 400 W 2R8F 2R8A
SGMAV-06A 550 W
5R5A
SGMAV-08A 750 W
SGMAV-10A 1.0 kW 120A
*1
SGMGV
(Medium Inertia,
Medium Capacity)
1500RPM
SGMGV-03A 300 W
3R8A
S
SGMGV-05A 450 W
SGMGV-09A 850 W 7R6A
SGMGV-13A 1.3 kW 120A
SGMGV-30A 2.9 kW 330A/200A
*2
SGMGV-1AA 11 kW 590A
SGMGV-1EA 15 kW 780A
SGMGV-03D 300 W

1R9D
S
SGMGV-05D 450 W
SGMGV-09D 850 W 3R5D
SGMGV-13D 1.3 kW 5R4D
SGMGV-20D 1.8 kW 8R4D
SGMGV-30D 2.9 kW 120D
SGMGV-1AD 11 kW 280D
SGMGV-1ED 15 kW 370D
SGMSV
(Low Inertia,
Medium Capacity)
3000RPM
SGMSV-10A 1.0 kW
7R6A
S
SGMSV-15A 1.5 kW 120A
SGMSV-25A 2.5 kW
200A
SGMSV-30A 3.0 kW
SGMSV-40A 4.0 kW
330A
SGMSV-50A 5.0 kW
SGMSV-10D 1.0 kW
3R5D
SGMSV-15D 1.5 kW 5R4D
SGMSV-20D 2.0 kW 8R4D
SGMSV-25D 2.5 kW
120D
SGMSV-30D 3.0 kW
SGMSV-40D 4.0 kW
170D
SGMSV-50D 5.0 kW
*1: Single-phase 200 VAC SERVOPACKs are also available (SERVOPACK model: SGDV-120AA008000,
*2: The combination of the SGDV-200A SERVOPACK and the SGMGV-30A servomotor must be used at the following reduction ratings.
Rotary Servomotors and SERVOPACKs with AC Power Input
Reduction Ratings Ratings
Rated Current Arms 19.6 23.8
Rated Torque Nm 15.3 18.6
Allowable Load Moment of Inertia 3 times 5 times
ix
Product Line-up
Linear Servomotor Model
Rated Force
N
Peak Force
N
Staus Single-phase 100 VAC Three-phase 200 VAC Three-phase 400 VAC
SGLGW
(Coreless Type,
With standard
magnetic way)
SGLGW-30A050C 12.5 40 R70F R70A
S
SGLGW-30A080C 25 80
R90F R90A
SGLGW-40A140C 47 140
SGLGW-40A253C 93 280
2R1F 1R6A
SGLGW-60A140C 70 220
SGLGW-40A365C 140 420
2R8F 2R8A
SGLGW-60A253C 140 440
SGLGW-60A365C 210 660
5R5A
SGLGW-90A200C 325 1300 120A
SGLGW-90A370C 550 2200 180A
SGLGW-90A535C 750 3000 200A
SGLGW
(Coreless Type,
With high-efficiency
magnetic way)
SGLGW-40A140C 57 230
2R1F 1R6A
NS
SGLGW-60A140C 85 360
SGLGW-40A253C 114 460 2R8F 2R8A
SGLGW-40A365C 171 690
3R8A
SGLGW-60A253C 170 720
SGLGW-60A365C 255 1080 7R6A
SGLFW
(With F-type Iron Core)
SGLFW-20A090A 25 86
2R1F 1R6A
S
SGLFW-20A120A 40 125
SGLFW-35A120A 80 220
SGLFW-35A230A 160 440
3R8A
SGLFW-50A200B 280 600 5R5A
SGLFW-50A380B 560 1200
120A
SGLFW-1ZA200B 560 1200
SGLFW-1ZA380B 1120 2400 200A
SGLFW-35D120A 80 220
1R9D
SGLFW-35D230A 160 440
SGLFW-50D200B 280 600 3R5D
SGLFW-50D380B 560 1200
5R4D
SGLFW-1ZD200B 560 1200
SGLFW-1ZD380B 1120 2400 120D
SGLTW
(With T-type Iron Core)
SGLTW-20A170A 130 380
3R8A
NS
SGLTW-35A170A 220 660
5R5A SGLTW-35A170H 300 600
SGLTW-50A170H 450 900
SGLTW-20A320A 250 760 7R6A
SGLTW-20A460A 380 1140
120A
SGLTW-35A320A 440 1320
SGLTW-35A320H 600 1200
SGLTW-50A320H 900 1800
SGLTW-35A460A 670 2000
180A
SGLTW-40A400B 670 2600
SGLTW-40A600B 1000 4000
330A
SGLTW-80A400B 1300 5000
SGLTW-35D170H 300 600
3R5D
SGLTW-50D170H 450 900
SGLTW-35D320H 600 1200
8R4D
SGLTW-50D320H 900 1800
SGLTW-40D400B 670 2600 120D
SGLTW-40D600B 1000 4000
170D
SGLTW-80D400B 1300 5000
Linear Servomotors and SERVOPACKs with AC Power Input
Rotary Servomotors and SERVOPACKs with DC Power Input
Rotary Servomotor Model Capacity
Staus 24 VDC/48 VDC
SGMMV
(Low Inertia,
Ultra-small Capacity)
3000 min-1
SGMMV-B3E 3.3 W
1R7E
S
SGMMV-B5E 5.5 W
SGMMV-B9E 11 W
SGMMV-A1E 10 W
2R9E SGMMV-A2E 20 W
SGMMV-A3E 30 W
x
Product Line-up
Linear Slide Model
Rated Force
N
Peak Force
N
SERVOPACK Model SGDV-
Stock
Status Single-phase 100 VAC Three-phase 200 VAC
SGT1F
( -Trac)
SGT1F31- 80 220 2R1F 1R6A
LS
SGT1F41- 160 440
3R8A
SGT1F91- 280 600 5R5A
SGT1FA1- 560 1200 120A
SGTMM
( -Trac-)
SGTMM-01 3.5 10 R70F R70A
GS
SGTMM-03 7 25 R90F R90A
SGTMF
( -Trac-MAG)
SGTMF-4A 90 270
2R1F 1R6A
GS
SGTMF-4B 120 360
SGTMF-5A 180 540
5R5A
SGTMF-5B 240 720
Linear Slides ( -Trac) and SERVOPACKs
Direct Drive Servomotors and SERVOPACKs
Direct Drive Servomotor Model
Rated Torque
N m
Peak Torque
N m
Stock
Status Single-phase 100 VAC Three-phase 200 VAC
SGMCS
(Small Capacity)
SGMCS-02B 2 6
2R1F
2R8A
S
SGMCS-05B 5 15
SGMCS-07B 7 21
SGMCS-04C 4 12
2R8F
SGMCS-10C 10 30
SGMCS-14C 14 42
SGMCS-08D 8 24
SGMCS-17D 17 51
SGMCS-25D 25 75
SGMCS-16E 16 48
5R5A
SGMCS-35E 35 105
SGMCS
(Medium Capacity)
SGMCS-45M 45 135
7R6A
S
SGMCS-80M 80 240
120A
SGMCS-80N 80 240
SGMCS-1AM 110 330 180A
SGMCS-1EN 150 450
200A
SGMCS-2ZN 200 600
xi
xiii
AC SERVODRIVE
Rotary Servomotors 1
Ultra-Small Capacity SGMMV 1
Medium Inertia, Small Capacity SGMJ V 21
Low Inertia, Small Capacity SGMAV 35
Medium Inertia, Medium Capacity SGMGV 51
Low Inertia, Medium Capacity SGMSV 75
Rotary Servomotor General Instructions 95
Direct Drive Servomotors 105
Small / Medium Capacity SGMCS 105
Linear Servomotors 123
G-Type Coreless SGLGW 123
F-Type Iron Core SGLFW 143
T-Type Balanced Iron Core SGLTW 163
Linear Servomotor General Instructions 191
Linear Slides 199
-Trac SGT1F 199
Analog Voltage/Pulse Train Reference Type SERVOPACKs 207
MECHATROLINK-II Communications Reference Type SERVOPACKs 231
Wiring Main Circuit and Peripheral Devices 323
Selecting Servomotor Capacity and Regenerative Capacity 381
Connection to Host Controller 397
SERVOPACK with Additional Options 267
MECHATROLINK-III Communications Reference Type SERVOPACKs 253
Servomotors
SERVOPACKs
AC Power Input
Others
Analog Voltage/Pulse Train Reference Type 341
MECHATROLINK-II Communications Reference Type 351
Wiring Main Circuit and Peripheral Devices 373
DC SERVOPACK Dimensions 371
MECHATROLINK-III Communications Reference Type 361
SERVOPACKs
DC Power Input
1
*: Same for 24 VDC and 48 VDC. Characteristics
vary with the voltage of the main circuit for
SERVOPACKs
Model Designations
SGMMV
Code Specifications
1 Without options
C
With holding brake
(24 VDC, flange size:
25 mm25 mm)
Code Specifications
B3 3.3 W
B5 5.5 W
B9 11 W
A1 10 W
A2 20 W
A3 30 W
Code Specifications
2 Straight (Standard)
A Straight with flat seats (Optional)
Code Specifications
A Standard
Code Specifications
A
200 VAC
(Flange size: 25 mm25 mm)
E 24 VDC/48 VDC*
SGMMV - A1 A 2 A 2 1
mini Series
Servomotor
SGMMV
Rotary Servomotors
7th
digit
6th
digit
5th
digit
4th
digit
3rd
digit
1st+2nd
digits
1st+2nd digits Rated Output
3rd digit Power Supply Voltage
Code Specifications
2 17-bit absolute
4th digit Serial Encoder
5th digit Design Revision Order
6th digit Shaft End
7th digit Options
Rotary Motors
2
Sigma Mini Servomotors
SGMMV
Rotary Motors
1 Ultra-compact, ultra-small capacity
With flange size of 15 mm15 mm: 3.3 W to 11 W
With flange size of 25 mm25 mm: 10 W to 30 W
1 Mounted 17-bit high-resolution absolute serial encoder:
Can be used as an incremental encoder
1Maximum speed: 6,000 RPM
1Wide selection: Two flange sizes, AC or DC power*, and holding brakes*
*: Only the 25 mm25 mm flange can be used with a 200-VAC power supply or a holding brake.
Features
Application Examples
Semiconductor equipment
LCD manufacturing equipment
Electronic parts assembly and
electronic parts manufacturing equipment
Metal processing machines
Robots
Assemblers
Inspection and measurement devices
Clean systems
Automated guided vehicles (AGVs)
Equipment for biomedical
Bonders, probers, IC handlers, chip sorters, and OHT
Dispensers, scriber, electrode-mounting device, and inspection device
Mounters, inserters, and solder printers
Coil winders and spring machinery
X-Y robots, assembler robots
Screw tighters
Precautions when using AC or DC power input
Applicable servomotors, SERVOPACKs, and cables differ depending on if AC or DC power is used. Refer to
the relevant pages and be sure to select the correct models.
Applicable servomotors: SGMMV-E
Applicable SERVOPACKs: SGDV-E
Refer to page x for information on combining
servomotors and SERVOPACKs.
Refer to pages 10 to 14 for information on
selecting servomotor cables.
Applicable servomotors: SGMMV-A
Applicable SERVOPACKs: SGDV-F and SGDV-
A
Refer to page ix for information on
combining servomotors and
SERVOPACKs.
Refer to pages 15 to 19 for information
on selecting servomotor cables.
Equipment Machinery
With DC power With AC power
3
*1: These items and torque-motor speed characteristics quoted in combination with an SGDV SERVOPACK are at an armature winding temperature of 100C. Other
values quoted are at 20C.
*2: Rated torques are continuous allowable torque values at 40C with an aluminum heat sink of the following dimensions attached.
SGMMV-B3E, -B5E, -B9E, -A1E, -A2E: 150 mm150 mm3 mm
SGMMV-A3E : 250 mm250 mm6 mm
*3: Torque-speed characteristics differ depending on if a 24 VDC or a 48 VDC is used for the main circuit for the SERVOPACK.
Note: The values in parentheses are for servomotors with holding brakes.
1Torque-Motor Speed Characteristics A : Continuous Duty Zone B : Intermittent Duty Zone
SGMMV-B3E
A B
4000
3000
2000
1000
0
5000
6000
7000
0 0.0075 0.015 0.0225 0.03
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Torque (Nm)
SGMMV-B5E
A B
4000
3000
2000
1000
0
5000
6000
7000
0 0.015 0.03 0.045 0.06
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Torque (Nm)
SGMMV-A2E
A B
4000
3000
2000
1000
0
5000
6000
7000
0 0.08 0.16 0.24 0.32
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Torque (Nm)
SGMMV-A3E
A B
4000
3000
2000
1000
0
5000
6000
7000
0 0.1 0.2 0.3 0.4
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Torque (Nm)
SGMMV-A1E
A B
4000
3000
2000
1000
0
5000
6000
7000
0 0.04 0.08 0.12 0.16
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Torque (Nm)
SGMMV-B9E
A B
4000
3000
2000
1000
0
5000
6000
7000
0 0.03 0.06 0.09 0.12
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Torque (Nm)
Notes: 1 The characteristics of the intermittent duty zone differ depending on the supply voltage.
Solid lines indicate characteristics when a 48-VDC power supply is applied to the main circuit of the SERVOPACK, and dotted lines indicate characteristics when a 24 VDC is
applied.
For SGMMV-B3E, -B9E, -A1E SERVOPACKs, characteristics are the same for both 24-VDC or 48-VDC versions.
2 When the effective torque is within the rated torque, the servomotor can be used within the intermittent duty zone.
Ratings and Specifications
Voltage 24 VDC/48 VDC
*3
Servomotor Model: SGMMV- B3E B5E B9E A1E A2E A3E
Rated Output
*1
W 3.3 5.5 11 10 20 30
Rated Torque
*1
,
*2
Nm 0.0105 0.0175 0.0350 0.0318 0.0637 0.0955
Instantaneous Peak Torque
*1
Nm 0.0263 0.0438 0.0875 0.0955 0.191 0.286
Rated Current
*1
A
rms
1.5 1.5 1.7 2.1 2.0 2.9
Instantaneous Max. Current
*1
A
rms
3.6 3.7 4.1 6.1 5.8 8.6
Rated Speed
*1
RPM 3000
Max. Speed
*1
RPM 6000
Torque Constant Nm/A
rms
0.00814 0.0132 0.0241 0.0172 0.0358 0.0358
Rotor Moment of Inertia kg-m
2
4.4110
-8
7.9610
-8
2.2110
-7
2.7210
-7

(4.0710
-7
)
4.6610
-7

(6.0210
-7
)
6.6810
-7

(8.0410
-7
)
Rated Power Rate
*1
kW/s 2.50 3.85 5.54 3.72 8.71 13.7
Rated Angular Acceleration
*1
rad/s
2
238000 220000 158000 117000 137000 143000
Flange Size mm 1515 2525
Applicable SERVOPACK SGDV- 1R7E 2R9E
Time Rating: Continuous
Vibration Class: V15
Insulation Resistance: 500 VDC, 10 M min.
Ambient Temperature: 0 to 40C
Excitation: Permanent magnet
Mounting: Flange-mounted
Thermal Class: 15 mm15 mm B (UL: A)
25 mm25 mm B
Withstand Voltage: 600 VAC for one minute
Enclosure: 15 mm15 mm: Totally enclosed, self-cooled, IP42
(except for shaft opening)
25 mm25 mm: Totally enclosed, self-cooled,
IP55 (except for shaft opening)
Ambient Humidity: 20% to 80% (no condensation)
Drive Method: Direct drive
Rotation Direction: Counterclockwise (CCW) with forward run
reference when viewed from the load side
Rotary Motors
4
SGMMV
Rotary Motors
SGMMV-A1A, -A2A: 150 mm150 mm3 mm
SGMMV-A3A : 250 mm250 mm6 mm
Voltage 200 VAC
Servomotor Model: SGMMV- A1A A2A A3A
Rated Output
*1
W 10 20 30
Rated Torque
*1
,
*2
Nm 0.0318 0.0637 0.0955
*1
Nm 0.0955 0.191 0.286
Rated Current
*1
A
rms
0.70 0.66 0.98
*1
A
rms
2.0 1.9 2.9
Rated Speed
*1
RPM 3000
Max. Speed
*1
RPM 6000
rms
0.0516 0.107 0.107
Rotor Moment of Inertia kg-m
2
2.7210
-7
(4.0710
-7
) 4.6610
-7
(6.0210
-7
) 6.6810
-7
(8.0410
-7
)
Rated Power Rate
*1
kW/s 3.72 8.71 13.7
*1
rad/s
2
117000 137000 143000
Flange Size mm 2525
Applicable SERVOPACK SGDV- R90 1R6A, 2R1F
SGMMV-A1A
A B
4000
3000
2000
1000
0
5000
6000
7000
0 0.04 0.08 0.12 0.16
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Torque (Nm)
SGMMV-A2A
A B
4000
3000
2000
1000
0
5000
6000
7000
0 0.08 0.16 0.24 0.32
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Torque (Nm)
SGMMV-A3A
A B
4000
3000
2000
1000
0
5000
6000
7000
0 0.1 0.2 0.3 0.4
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Torque (Nm)
Notes: 1 The characteristics of the intermittent duty zone differ depending on the supply voltage.
2 When the effective torque is within the rated torque, the servomotor can be used within the intermittent duty zone.
Thermal Class: B
Enclosure: Totally enclosed, self-cooled, IP55
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Note: Overload characteristics shown above do not guarantee continuous duty of 100% or more
output. Use a servomotor with effective torque within the continuous duty zone of
Torque-Motor Speed Characteristics.
1Holding Brake Electrical Specifications
Holding Brake
Rated Voltage
Servomotor
Model
Servomotor
Rated Output
W
Holding Brake Specifications
Capacity
W
Holding
Torque Nm
Coil Resistance
(at 20C)
Rated Current
A(at 20C)
Brake Release
Time ms
Brake Operation
Time ms
Notes: 1 The holding brake is only used to hold the load and cannot be used to stop the servomotor.
2 The holding brake open time and holding brake operation time vary depending on which discharge circuit is used. Make sure holding brake open time and holding brake
operation time are correct for your servomotor.
3 A 24-VDC power supply is not included.
1Overload Characteristics
The overload detection level is set under hot start conditions at a servomotor ambient temperature of 40C.
1000
100
10
1
0.1
100 150 200 250
SGMMV-B3E, -B5E
SGMMV-B9E
D
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t
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(
s
)
Torque reference (percent of rated torque)
(%)
1000
100
10
1
100 200 300
SGMMV-A1,-A2,-A3
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)
(%)
24 VDC
+10%
0
SGMMV-A1E
SGMMV-A1A
10 2.0 0.0318 320 0.075 40 100
SGMMV-A2E
SGMMV-A2A
20 2.6 0.0637 221.5 0.108 40 100
SGMMV-A3E
SGMMV-A3A
30 2.6 0.0955 221.5 0.108 40 100
Rotary Motors
6
SGMMV
Rotary Motors
1Load Moment of Inertia
The larger the load moment of inertia, the worse the movement response.
The allowable load moment of inertia (JL) depends on the motor capacity, as shown above. This value is provided strictly
as a guideline and results may vary depending on servomotor drive conditions.
Use the AC servo drive capacity selection program SigmaJ unmaSize+to check the operation conditions. The program
can be downloaded for free from our web site (http://www.e-mechatronics.com/.
An overvoltage alarm (A.400) is likely to occur during deceleration if the load moment of inertia exceeds the allowable load
moment of inertia. Take one of the following steps if this occurs.
Reduce the torque limit.
Reduce the deceleration rate.
Reduce the maximum speed.
1Allowable Radial and Thrust Loads
Design the mechanical system so thrust and radial loads applied to the servomotor shaft end during operation fall within the
ranges shown in the table.
Servomotor Model
Allowable Radial
Load (Fr) N
Allowable Thrust
Load (Fs) N
LF
mm
Reference Diagram
SGMMV-
B3 8 4 10
B5 8 4 10
B9 10 4 10
A1 34 14.5 16
A2 44 14.5 16
A3 44 14.5 16
Fr
Fs
LF
1Allowable Load Moment of Inertia at the Motor Shaft
The rotor moment of inertia ratio is the value for a servomotor without a gear and a holding brake.
Servomotor Model
Servomotor Rated
Output
Allowable Load Moment of Inertia
(Rotor Moment of Inertia Ratio)
SGMMV-
B3 3.3 W
30 times
B5 5.5 W
B9 11 W
A1 10 W
A2 20 W
A3 30 W
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1Without Holding Brakes
(1) 3.3 to 11 W
A
0.02
6
0.5 3.5
4 Dia.
0
0.008
1
1
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0
0
.
0
1
8
4
D
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0
0
.
0
0
8
Model
SGMMV-
L L1 L2
Approx. Mass
kg
B3E2A1 58 48 21.3 0.055
B5E2A1 64 54 27.3 0.06
B9E2A1 98 88 61.3 0.1
1 2
3 4
2.5
1
5
1
6
0
.1
D
ia
.
10 26.7
L1
L2
15
12.5
3
.
6
4
5
2
0
3.7
L
0.02
A
0.04 Dia. A
0.04 A
2-M2 Tapped Holes, Depth 3
Protective Tube, 4 Dia.
30015
30015
Encoder Cable, 4 Dia.
UL20276
Pin No.1
Pin No.5
Pin No.2
Pin No.6
Plug: 55102-0600 (Molex Japan Co., Ltd.)
Receptacle: 43025-0400 (Molex Japan Co., Ltd.)
Motor Lead
AWG26,UL10095
or UL3266
4
D
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0
0
.
0
0
8
1
1
D
ia
.
0
0
.0
1
8
External Dimensions Units: mm
<Shaft End>
1With a Flat Seat
Rotary Motors
8
SGMMV
Rotary Motors
(2) 10 to 30 W
A
0.02
10
0.5 4.5
2
0
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0
0
.
0
2
1
5
D
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0
0
.
0
0
8
1 2
3 4
30030
Pin No.2 Pin No.1
Pin No.6 Pin No.5
Plug: 55102-0600 (Molex Japan Co., Ltd.) Encoder Cable, 4 Dia.
UL20276
Protective Tube
5 Dia., Black
Motor Lead
AWG24,UL10095
or UL3266
30 300
2
8
D
ia
.
25
16
4
5
2.5
16
26.5
12
L2
L
L1
2-M3 Tapped
Holes, Depth 7
0.04 Dia. A
A
0.02
0.04 A
4
2
0
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0
0
.
0
2
1
5
D
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.
0
0
. 0
0
8
<Shaft End>
1With a Flat Seat
Model
SGMMV-
L L1 L2
Approx. Mass
kg
A12A1 70 54 27.5 0.13
A22A1 80 64 37.5 0.17
A32A1 90 74 47.5 0.21
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1With Holding Brakes
(1) 10 to 30 W
A
0.02
10
0.5 4.5
2
0
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0
0
.
0
2
1
5
D
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0
0
.
0
0
8
Model
SGMMV-
L L1 L2
Approx. Mass
kg
A12AC 94.5 78.5 27.5 0.215
A22AC 108.5 92.5 37.5 0.27
A32AC 118.5 102.5 47.5 0.31
1 2 3
4 5 6
30030
Pin No.2 Pin No.1
Pin No.6 Pin No.5
Plug: 55102-0600 (Molex Japan Co., Ltd.)
30 300
2
8
D
ia
.
25
16
4
4
5
2.5
16 12
26.5
L1
L
L2
2-M3 Tapped
Holes, Depth 7
A
0.02
0.04 A
0.04 Dia. A
Encoder Cable, 4 Dia.
UL20276
Protective Tube
5 Dia., Black
Motor Lead
AWG24,UL10095
or UL3266
5
D
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.
0
0
.0
0
8
2
0
D
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a
.

0
0
.
0
2
1
<Shaft End>
1With a Flat Seat
Rotary Motors
10
SGMMV
Rotary Motors
Selecting Cables for SERVOPACKs with DC Power Input
1Examples of Cable Connections
2Standard Wiring (Max. encoder cable length: 20 m) 2Encoder Cable Extension from 30 to 50 m
Encoder Cable
Servomotor
Main Circuit
Cable
SGDV
SERVOPACK
SGMMV
Servomotor
Battery Case
(Required when an absolute
encoder is used.)
Relay Encoder Cable
Servomotor
Main Circuit
Cable
SGDV
SERVOPACK
SGMMV
Servomotor
Cable with a Battery
encoder is used.)
Cable with Connectors, or
Cable
CAUTION
Separate the servomotor main circuit cable wiring from the I/O signal cable and encoder cable at least 30 cm,
and do not bundle or run them in the same duct.
When the cable length exceeds 20 m, be sure to use a relay encoder cable.
If the main circuit cable for the servomotor causes the line-to-line voltage to drop, the intermittent duty zone of
the torque-motor speed characteristics may become smaller.
1Servomotor Main Circuit Cable
Name Length
Order No.
Specifications Details
Standard Type Flexible Type*
For
Servomotor
without Holding
Brakes
3 m J ZSP-CF1M00-03-E J ZSP-CF1M20-03-E
(1)
For
Servomotor
with Holding
Brakes
(2)
SERVOPACK End Servomotor End

*: Use flexible cables for movable sections such as robot arms.

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(1) Wiring Specifcations for Servomotors without Holding
Brakes
(2) Wiring Specifcations for Servomotor with Holding
Brakes
Note: No polarity for connection to a holding brake.
1Encoder Cables (Length: 20 m or less)
Name Length
Order No.
Standard Type Flexible Type
*1
Cable with
Connectors
(For Incremental
Encoder)
3 m J ZSP-CMP00-03-E J ZSP-CMP10-03-E
(1)
Cable with Connectors
*2
(For Absolute
Encoder, with
a Battery Case)
3 m J ZSP-CSP19-03-E J ZSP-CSP29-03-E
(2)
SERVOPACK-end
Connector Kit
J ZSP-CMP9-1-E
Soldered
(3)
Encoder-end
Connector Kit
J ZSP-CMP9-2-E
Soldered
Cables
5 m J ZSP-CMP09-05-E J ZSP-CSP39-05-E 20 m Max.
(4)
10 m J ZSP-CMP09-10-E J ZSP-CSP39-10-E
*1: Use flexible cables for movable sections such as robot arms.
*2: When the battery is connected to the host controller, no battery case is required. If so, use a cable for incremental encoders.
Connector (Crimped)
(Molex Japan Co., Ltd.)
Encoder End SERVOPACK End
L
Socket Connector (Soldered)
Connector (Crimped)
Battery Case
(Battery attached)
L
Pin No. Signal Signal Pin No.
1 Phase U Phase U 1
2 Phase V Phase V 2
3 Phase W Phase W 3
4 FG FG 4
Pin No. Signal Signal Pin No.
1 Phase U Phase U 1
2 Phase V Phase V 2
3 Phase W Phase W 3
4 FG FG 4
Ring terminal Brake Brake 5
Ring terminal Brake Brake 6
Rotary Motors
12
SGMMV
Rotary Motors
Items SERVOPACK-end Connector Kit Encoder-end Connector Kit
Order No.
J ZSP-CMP9-1-E
(Cables are not included.)
J ZSP-CMP9-2-E
Manufacturer Molex Japan Co., Ltd. Molex Japan Co., Ltd.
Specifications
55100-0670 (soldered)
Product Specifcation: PS-54280
54280-0609 (soldered)
External
Dimensions
mm
(3) SERVOPACK-end/Encoder-end Connector Kit Specifications
1 2
3 4
5 6
12 33
1
9
1
9
12 44
(1) Wiring Specifcations for Cable with Connectors (For
incremental encoder)
(2) Wiring Specifcations for Cable with Connectors
(For absolute encoder, with a battery case)
6
5
4
3
2
1
FG
/PS
PS
BAT()
BAT(+)
PG 5V
PG 0V
3
5
4
6
2
1
Shell
Pin No. Signal
SERVOPACK End
Shell
Shield
Wire
Pin No.
Encoder (Servomotor) End
Wire Color
Black
Red
Light blue/white
Light blue
Orange/white
Orange
FG
Green
Orange
Black/pink
Red/pink
Black/light blue
Red/light blue
FG
2
1
6
5
4
3
2
1
FG
/PS
PS
BAT
BAT+
BAT
BAT+
PG 5V
PG 0V
3
5
4
6
2
1
Pin No. Signal
Pin No. Signal
SERVOPACK End
Shell
Shield
Wire
Battery Case
Shell
Pin No.
Wire Color
Black
Red
Light blue/white
Light blue
Orange/white
Orange
FG
Green
Orange
Black/pink
Red/pink
Black/light blue
Red/light blue
FG
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(4) Cable Specifcations
Items Standard Type Flexible Type
Order No.* J ZSP-CMP09--E J ZSP-CSP39--E
Cable Length 20 m max.
Specifications
UL20276 (Rating temperature: 80C)
AWG22x2C+AWG24x2P
AWG22 (0.33 mm
2
)
Outer diameter of insulating sheath: 1.15 dia. mm
AWG24 (0.20 mm
2
)
AWG22x2C+AWG24x2P
AWG22 (0.33 mm
2
)
AWG24 (0.20 mm
2
)
Finished Dimensions 6.5 dia. mm 6.8 dia. mm
Internal Configuration
and Lead Color
Yaskawa Standards
Specifications
(Standard Length)
Cable length: 5 m, 10 m, 15 m, 20 m
*: Specify the cable length in of order no.
Example: J ZSP-CMP09-05-E (5 m)
Light blue/
white
Orange
Orange/
white
Light blue
Red Black
Black/
light blue
Red/
light blue
Black/
pink
Red/
pink
Orange Green
Rotary Motors
14
SGMMV
Rotary Motors
Name Length
Order No.
Standard Type
(For incremental and absolute encoder)
30 m J ZSP-UCMP00-30-E
(1) 40 m J ZSP-UCMP00-40-E
Cable with a Battery Case
(Required when an absolute encoder is used*)
0.3 m J ZSP-CSP12-E (2)
Cables
30 m J ZSP-CMP19-30-E
(3) 40 m J ZSP-CMP19-40-E
*: Not required when connecting a battery to the host controller.
1Relay Encoder Cables (For extending from 30 to 50 m)
(1) Wiring Specifications for Cable with Connectors
3
5
4
6
2
1
6
5
4
3
2
1
FG
/PS
PS
BAT ()
BAT (+)
PG 5V
PG 0V
Pin No. Signal
Shell
SERVOPACK End
Shield
Wire
Pin No. Wire Color
Shell
Black
Red
Light blue/white
Light blue
Orange/white
Orange
FG
L
Plug Connector (Crimped)
SERVOPACK End Encoder End
0.3 m
Battery Case
(Battery attached)
2
1
3
5
4
6
2
1
6
5
4
3
2
1
FG FG
/PS
PS
BAT ()
BAT (+)
BAT ()
BAT (+)
PG 5V
PG 0V
Pin No. Signal
Battery Case
Pin No. Signal
Shell Shell
SERVOPACK End
Shield
Wire
Pin No. Wire Color
Black
Red
Light blue/white
Light blue
Orange/white
Orange
(2) Wiring Specifcations for Cable with a Battery Case
Item Standard Type
Order No.* J ZSP-CMP19--E
Specifications
AWG16x2C+AWG26x2P
AWG16 (1.31 mm
2
)
AWG26 (0.13 mm
2
)
Finished Dimensions 6.8 dia. mm
and Lead Colors
Yaskawa Standard
Specifications
(Standard Length)
Cable length: 30 m, 40 m, 50 m
Red
Light blue
/white
Light blue
Orange
/white
Orange
Black
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Selecting Cables for SERVOPACKs with AC Power Input
1Examples of Cable Connections
SGDV
SERVOPACK
Servomotor
Main Circuit Cable
Encoder Cable
Battery Case
encoder is used.)
SGMMV
Servomotor
encoder is used.)
Relay Encoder Cable
Servomotor
Main Circuit Cable
Cable
SGMMV
Servomotor
SGDV
SERVOPACK
Name Length
Order No.
For
Servomotor
without
Holding
Brakes
(1)
For
Servomotor
with Holding
Brakes
(2)
Servomotor End
50 mm
SERVOPACK End
Wire Markers
M4 Crimped Terminals
Servomotor End
50 mm
SERVOPACK End
Wire Markers
CAUTION
When the main circuit cable length exceeds 20 m, note that the intermittent duty zone of the Torque-Motor
Speed Characteristics will shrink as the line-to-line voltage drops.
Rotary Motors
16
SGMMV
Rotary Motors
(1) Wiring Specifcations for Servomotors without Holding
Brakes
(2) Wiring Specifcations for Servomotor with
Holding Brakes
Pin No. Signal Signal Wire Color
1
2
3
4
Servomotor-end Connector
FG
Phase W
Phase V
Phase U
FG
Phase W
Phase V
Phase U
Green/yellow
Blue
White
Red
SERVOPACK-end Leads
1
2
3
4
5
6
FG
Phase W
Phase V
Phase U
Brake
Brake
Brake
Brake
FG
Phase W
Phase V
Phase U
Green/yellow
Blue
White
Red
Black
Black
SERVOPACK-end Leads
Name Length
Order No.
*1
(For Incremental
Encoder)
(1)
*2
(For Absolute Encoder,
with a Battery Case)
(2)
SERVOPACK-end
Connector Kit
J ZSP-CMP9-1-E
Soldered
(3)
Encoder-end
Connector Kit
J ZSP-CMP9-2-E
Soldered
Cables
5 m J ZSP-CMP09-05-E J ZSP-CSP39-05-E 20 m Max.
(4)
*2: When the battery is connected to the host controller, no battery case is required. If so, use a cable for incremental encoders.
Connector (Crimped)
L
Connector (Crimped)
Battery Case
(Battery attached)
L
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Order No.
J ZSP-CMP9-1-E
J ZSP-CMP9-2-E
Specifications
55100-0670 (soldered)
54280-0609 (soldered)
External
Dimensions
mm
1 2
3 4
5 6
12 33
1
9
1
9
12 44
(1) Wiring Specifcations for Cable with Connectors (For
incremental encoder)
6
5
4
3
2
1
FG
/PS
PS
BAT()
BAT(+)
PG 5V
PG 0V
3
5
4
6
2
1
Shell
Pin No. Signal
SERVOPACK End
Shell
Shield
Wire
Pin No.
Wire Color
Black
Red
Light blue/white
Light blue
Orange/white
Orange
FG
Green
Orange
Black/pink
Red/pink
Black/light blue
Red/light blue
FG
2
1
6
5
4
3
2
1
FG
/PS
PS
BAT
BAT+
BAT
BAT+
PG 5V
PG 0V
3
5
4
6
2
1
Pin No. Signal
Pin No. Signal
SERVOPACK End
Shell
Shield
Wire
Battery Case
Shell
Pin No.
Wire Color
Black
Red
Light blue/white
Light blue
Orange/white
Orange
FG
Green
Orange
Black/pink
Red/pink
Black/light blue
Red/light blue
FG
Rotary Motors
18
SGMMV
Rotary Motors
Specifications
AWG22x2C+AWG24x2P
AWG22 (0.33 mm
2
)
AWG24 (0.20 mm
2
)
AWG22x2C+AWG24x2P
AWG22 (0.33 mm
2
)
AWG24 (0.20 mm
2
)
and Lead Color
Yaskawa Standards
Specifications
(Standard Length)
Light blue/
white
Orange
Orange/
white
Light blue
Red Black
Black/
light blue
Red/
light blue
Black/
pink
Red/
pink
Orange Green
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Name Length
Order No.
Standard Type
(1) 40 m J ZSP-UCMP00-40-E
(Required when an absolute encoder is used*)
0.3 m J ZSP-CSP12-E (2)
Cables
(3) 40 m J ZSP-CMP19-40-E
*: Not required when connecting a battery to the host controller.
3
5
4
6
2
1
6
5
4
3
2
1
FG
/PS
PS
BAT ()
BAT (+)
PG 5V
PG 0V
Pin No. Signal
Shell
SERVOPACK End
Shield
Wire
Pin No. Wire Color
Shell
Black
Red
Light blue/white
Light blue
Orange/white
Orange
FG
L
0.3 m
Battery Case
(Battery attached)
2
1
3
5
4
6
2
1
6
5
4
3
2
1
FG FG
/PS
PS
BAT ()
BAT (+)
BAT ()
BAT (+)
PG 5V
PG 0V
Pin No. Signal
Battery Case
Pin No. Signal
Shell Shell
SERVOPACK End
Shield
Wire
Pin No. Wire Color
Black
Red
Light blue/white
Light blue
Orange/white
Orange
Item Standard Type
Specifications
AWG16x2C+AWG26x2P
AWG16 (1.31 mm
2
)
AWG26 (0.13 mm
2
)
and Lead Colors
Yaskawa Standard
Specifications
(Standard Length)
Red
Light blue
/white
Light blue
Orange
/white
Orange
Black
Rotary Motors
20
SGMMV
Rotary Motors
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Model Designations
*: When exporting the servomotors themselves, export
restrictions may apply. Follow each countrys export
restrictions.
Limited Stock Items Non-Stock Items
SGMJV
2Without Gears
7th digit Options
Code Specifications
1 Without options
C
With holding brake
(24 VDC)
E
With oil seal and holding brake
(24 VDC)
S With oil seal
Code Specifications
3 20-bit absolute*
D 20-bit incremental
A 13-bit incremental
Code Specifications
A5 50 W
01 100 W
C2 150 W
02 200 W
04 400 W
06 600 W
08 750 W
Code Specifications
2 Straight without key
6 Straight with key and tap
B With two flat seats
6th digit Shaft End
Code Specifications
A Standard
Code Specifications
A 200 VAC
SGMJV - 01 A D A 2 1
Series
Servomotor
SGMJV
7th
digit
6th
digit
5th
digit
4th
digit
3rd
digit
1st+2nd
digits
Rotary Servomotors
22
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1Medium inertia
1Instantaneous peak torque
(350% of rated torque)
1Mounted high-resolution serial encoder:
13, 20 bits
1Maximum speed: 6,000 min
-1
1Wide Selection: 50 to 750 W capacity, holding brake
and gear options
Features
1Semiconductor equipment
1Chip mounters
1PCB drilling stations
1Robots
1Material handling machines
1Food processing equipment
Application Examples
23
Voltage 200 V
Servomotor Model: SGMJV- A5A 01A C2A 02A 04A 06A 08A
Rated Output
*1
W 50 100 150 200 400 600 750
Rated Torque
*1, *2
Nm 0.159 0.318 0.477 0.637 1.27 1.91 2.39
*1
Nm 0.557 1.11 1.67 2.23 4.46 6.69 8.36
Rated Current
*1
A
rms
0.61 0.84 1.6 1.6 2.7 4.2 4.7
*1
A
rms
2.1 2.9 5.7 5.8 9.3 14.9 16.9
Rated Speed
*1
min
-1
3000
Max. Speed
*1
min
-1
6000
rms
0.285 0.413 0.327 0.435 0.512 0.505 0.544
Rotor Moment of Inertia 10
-4
kgm
2
0.0414
(0.0561)
0.0665
(0.0812)
0.0883
(0.103)
0.259
(0.323)
0.442
(0.506)
0.667
(0.744)
1.57
(1.74)
Rated Power Rate
*1
kW/s 6.11 15.2 25.8 15.7 36.5 54.7 36.3
*1
rad/s
2
38400 47800 54100 24600 28800 28600 15200
Applicable SERVOPACK SGDV- R70 R90 1R6A,2R1F 1R6A,2R1F 2R8 5R5A 5R5A
SGMJV-A5A, -01A: 200 mm200 mm6 mm
SGMJV-02A, -04A, -08A: 250 mm250 mm6 mm
(Note3)
SGMJV-01A
Torque (Nm)
A B
4000
3000
2000
1000
0
5000
6000
0 0.25 0.5 0.75 1
SGMJV-A5A
M
o
t
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S
p
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d

(
m
i
n
-
1
)
M
o
t
o
r

S
p
e
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d

(
m
i
n
-
1
)
M
o
t
o
r

S
p
e
e
d

(
m
i
n
-
1
)
M
o
t
o
r

S
p
e
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d

(
m
i
n
-
1
)
M
o
t
o
r

S
p
e
e
d

(
m
i
n
-
1
)
M
o
t
o
r

S
p
e
e
d

(
m
i
n
-
1
)
M
o
t
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S
p
e
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d

(
m
i
n
-
1
)
Torque (Nm)
4000
3000
2000
1000
0
0
5000
0.15 0.3 0.45 0.6
6000
A B
SGMJV-C2A
Torque (Nm)
A B
4000
3000
2000
1000
0
5000
6000
0 0.5 1 1.5 2
SGMJV-02A
Torque (Nm)
A B
4000
3000
2000
1000
0
5000
6000
0 0.5 1 1.5 2
Torque (Nm)
SGMJV-04A
A B
4000
3000
2000
1000
0
5000
6000
0 1 2 3 4
Torque (Nm)
SGMJV-06A
A B
4000
3000
2000
1000
0
5000
6000
0 2 4 6 8
Torque (Nm)
SGMJV-08A
A B
4000
3000
2000
1000
0
5000
6000
0 2 4 6 8
Insulation Resistance: 500 VDC, 10 MW min.
Thermal Class: B
Notes: 1 The solid, dotted, and dashed-dotted lines of the intermittent duty zone indicate the characteristics when a servomotor runs with the following combinations:
The solid line: With a three-phase 200 V or a single-phase 230 V SERVOPACK
The dotted line: With a single-phase 200 V SERVOPACK
The dashed-dotted line: With a single-phase 100 V SERVOPACK
An SGMJV-A5A servomotor has the same characteristics in combination with three-phase 200 V and single-phase 200 V SERVOPACKs.
2 The characteristics of the intermittent duty zone differ depending on the supply voltages.
3 When the effective torque during intermittent duty is within the rated torque, the servomotor can be used within the intermittent duty zone.
4 When the main circuit cable length exceeds 20 m, note that the intermittent duty zone of the Torque-Motor Speed Characteristics will shrink as the line-to-line
voltage drops.
24
Servomotors
SGMJV
Rotary Motors
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1Derating Rate for Servomotor Fitted with an Oil Seal
When a motor is fitted with an oil seal, use the following derating rate because of the higher friction torque.
Servomotor Model
SGMJV-
A5A 01A 02A 04A 08A
Derating Rate % 80 90 95
2 The holding brake open time and holding brake operation time vary depending on which discharge circuit is used. Make sure holding brake open time and holding brake
operation time are correct for your servomotor.
3 A 24-VDC power supply is provided by customers.
Detecting time (s)
(%)
10000
1000
100
10
1
100 150 250 200 300 350
Note: Overload characteristics shown above do not guarantee continuous duty of 100%
or more output. Use a servomotor with effective torque within the continuous duty
zone of Torque-Motor Speed Characteristics.
Holding Brake
Rated Voltage
Servomotor
Model
Servomotor
Rated Output
W
Capacity
W
Holding
Torque Nm
Coil Resistance
W(at 20C)
Rated Current
A(at 20C)
Brake Release
Time ms
Brake Operation
Time ms
24 VDC
+10%
0
SGMJV-A5A 50 5.5 0.159 103 0.23 60 100
SGMJV-01A 100 5.5 0.318 103 0.23 60 100
SGMJV-C2A 150 5.5 0.477 104 0.23 60 100
SGMJV-02A 200 6 0.637 97.4 0.25 60 100
SGMJV-04A 400 6 1.27 97.4 0.25 60 100
SGMJV-06A 600 6.5 1.91 88.6 0.27 80 100
SGMJV-08A 750 6.5 2.39 87.7 0.27 80 100
25


The allowable load moment of inertia (JL) depends on motor capacity, as shown above. This value is provided strictly as a guideline and
results may vary depending on servomotor drive conditions.

Use the AC servo drive capacity selection program SigmaJunmaSize+ to check the operation conditions. The program can be
downloaded for free from our web site (http://www.e-mechatronics.com/).

An overvoltage alarm (A.400) is likely to occur during deceleration if the load moment of inertia exceeds the allowable load moment of
inertia. SERVOPACKs with a built-in regenerative resistor may generate a regenerative overload alarm (A.320). Take one of the following
steps if this occurs.
Install an external regenerative resistor if the alarm cannot be cleared using the steps above. Refer to Regenerative Resistors on
page 386.

Regenerative resistors are not built into SERVOPACKs for 400 W motors or less.

External regenerative resistors are required when this condition is exceeded or if the allowable loss capacity (W) of the built-in
regenerative resistor is exceeded due to regenerative drive conditions when a regenerative resistor is already built in.
Servomotor Model
Allowable Radial
Load (Fr) N
Allowable Thrust
Load (Fs) N
LR
mm
Reference Diagram
SGMJV-
A5A
78 54 20 01A
C2A
02A
245 74 25 04A
06A
08A 392 147 35
Fr
Fs
LR
Servomotor Model
Servomotor Rated
Output
SGMJV-
A5A, 01A, C2A 50 ,100, 150W 20 times
02A 200 W 15 times
04A, 06A, 08A 400 to 750 W 10 times
26
Servomotors
SGMJV
Rotary Motors
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(1) 50 to 150 W
Model
SGMJV-
L LL LM TapDepth
Key Dimensions Approx. Mass
kg QK U W T
A5AA21
(A5AA2C)
94
(139)
69
(114)
37
No tap No key
0.3
(0.6)
A5AA61
(A5AA6C)
M36L 14 1.8 3 3
01AA21
(01AA2C)
107.5
(152.5)
82.5
(127.5)
50.5
No tap No key
0.4
(0.7)
01AA61
(01AA6C)
M36L 14 1.8 3 3
C2AA21
(C2AA2C)
119.5
(164.5)
94.5
(139.5)
62.5
No tap No key
0.5
(0.8)
C2AA61
(C2AA6C)
M36L 14 1.8 3 3
QH
H
1
H2
8
D
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.

0
0
.
0
0
9
Model
SGMJV-
Dimensions of Servomotor with Two Flat Seats mm
QH H1 H2
A5AAB
15 7.5 7.5 01AAB
C2AAB
Note: The models and values in parentheses are for servomotors with holding brakes.
Y
Y
Cross Section Y-Y
Shaft End
With Key and Tap
4
6
D
ia
.
40
L
LM
20
2.5
25
QK
LL
T
6.1
19
20.5
1
4
17 2
D
i
a
.
3
0
1
2
W
U
8
D
i
a
.
5
0.02
A
0.04 A
A
Tap Depth
2-4.3 Dia.
0.04 Dia.

0
0
.
0
0
9

0
0
.
0
2
1
<Shaft End and Other Options>
2With Two Flat Seats
D
i
a
.
3
0
2
9
.
8

D
i
a
.
7.5
1.5
Oil Seal Cover

0
0
.
0
2
1
2With an Oil Seal
Notes: 1 The 7th digit of the model designation is S or E.
2 Key dimensions are the same as those in the table above.
27
Y
Y
Cross Section Y-Y
Shaft End
With Key and Tap
21 17 1.5
LM
L
QK
S

D
i
a
.
M
H
MW
LC
L
B

D
i
a
.
LG
LE
LR LL
MD
20.5
1
4
T
W
U
L
A

D
i
a
.
0.04 A
0.02
0.04 Dia. A
A
Tap Depth 4-LZ Dia.
(2) 200 to 750 W
Model
SGMJV-
L LL LM
Flange Face Dimensions
S TapDepth
Key Dimensions
MD MW MH
Approx.
Mass kg LR LE LG LC LA LB LZ QK U W T
02AA21
(02AA2C)
110
(150)
80
(120)
51 30 3 6 60 70 50
0
0.025
5.5 14
0
0.011
No tap No key
8.3 21 13
0.9
(1.5)
02AA61
(02AA6C)
M58L 14 3 5 5
04AA21
(04AA2C)
128.5
(168.5)
98.5
(138.5)
69.5 30 3 6 60 70 50
0
0.025
5.5 14
0
0.011
No tap No key
8.3 21 13
1.3
(1.9)
04AA61
(04AA6C)
M58L 14 3 5 5
06AA21
(06AA2C)
154.5
(200.5)
124.5
(170.5)
95.5 30 3 6 60 70 50
0
0.025
5.5 14
0
0.011
No tap No key
8.3 21 13
1.7
(2.4)
06AA61
(06AA6C)
M58L 14 3 5 5
08AA21
(08AA2C)
155
(200)
115
(160)
85 40 3 8 80 90 70
0
0.030
7 19
0
0.013
No tap No key
13.8 27 15
2.7
(3.6)
08AA61
(08AA6C)
M610L 22 3.5 6 6
QH
H
1
H2
S

D
i
a
.
Model
SGMJV-
Dimensions of Servomotor with Two Flat Seats mm
QH S H1 H2
02AAB
15 14
0
0.011
13 13 04AAB
06AAB
08AAB 22 19
0
0.013
18 18
Model
SGMJV-
Dimensions of Servomotor with an Oil Seal
E1 E2 LS1 LS2
02A, 04A, 06A 36 48 4 10
08A 49 66 6 11
Notes: 1 The 7th digit of the model designation is S or E.
2 Key dimensions are the same as those in the table above.
LE
LS1
LS2
E
1

D
i
a
.
E
2

D
i
a
.
Oil Seal Cover
<Shaft End and Other Options>
2With Two Flat Seats 2With an Oil Seal
28
Servomotors
SGMJV
Rotary Motors
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Selecting Cables
1Cables Connections
SGDV
SERVOPACK
Servomotor
Main Circuit Cable
Encoder Cable
Battery Case
encoder is used.)
SGMJV
Servomotor
SGDV
SERVOPACK
(Example)
Relay Encoder Cable
encoder is used.)
Encoder-end Cable
SGMJV
Servomotor
Cable
Servomotor
Main Circuit Cable
CAUTION
Name
Servomotor
Rated Output
Length
Order No.
Standard Type Flexible Type* Premium Type*
For Servomotor
without Holding
Brakes
50 to 150 W
3 m JZSP-CSM01-03-E JZSP-CSM21-03-E YAI-CSM21-03-P-E
(1)
15 m JZSP-CSM01-15-E JZSP-CSM21-15-E YAI-CSM21-15P-E
200 to 600 W
750 W
(Contd)
50 mm
Servomotor End SERVOPACK End
Wire Markers
29
Name
Servomotor
Rated Output
Length
Order No.
For Servomotor
with Holding
Brakes
50 to 150 W
(2)
200 to 600 W
750 W
Servomotor-end
Connector Kit
50 to 100 W JZSP-CSM9-1-E N/A (3)
200 to 400 W JZSP-CSM9-2-E N/A (4)
750 W JZSP-CSM9-3-E N/A (5)
Cables
50 to 400 W
5 m JZSP-CSM90-05-E JZSP-CSM80-05-E N/A
(6)
750 W
(7)
50 mm L
Wire Markers
M4 Crimped Terminal
Crimping Type
(A crimp tool is required.)
*: Use flexible or premium cables for movable sections such as robot arms.
(1) Wiring Specifcations for Servomotors without Holding Brakes (2) Wiring Specifcations for Servomotor with Holding Brakes
1
2
3
4
5
6
Phase U
Phase V
Phase W
FG
Phase U
Phase V
Phase W
FG
Red
White
Blue
Green/yellow
SERVOPACK-end Leads
Shield
Wire*
1
2
3
4
5
6
Phase U
Phase V
Phase W
FG
Brake
Brake
Brake
Brake
Phase U
Phase V
Phase W
FG
Red
White
Blue
Green/yellow
Black
Black
SERVOPACK-end Leads
* Shield wire only on Premium Type Cables.
Shield
Wire*
Selecting Cables
* Shield wire only on Premium Type Cables
30
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Rotary Motors
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Selecting Cables
(3) Servomotor-end Connector Kit Specifications: For 50 to 150 W Servomotors
Items Specifications External Dimensions mm
Order No.
JZSP-CSM9-1-E
Applicable Servomotors SGMJV-A5A, -01A
Manufacturer J.S.T. Mfg. Co., Ltd.
Receptacle J17-06FMH-7KL-1-CF
Electrical Contact SJ1F-01GF-P0.8
Applicable Wire Size AWG20 to 24
Outer Diameter of
Insulating Sheath
1.11 dia. to 1.53 dia. mm
Crimp
Tool
Hand tool YRS-8841
Applicator APLMK SJ1F/M-01-08
Mounting Screw M2 Pan-head screw
Applicable Cable
Outer Diameter
70.3 dia. mm
Pin No.6
Pin No.1
19
1
2
20
654 321
(4) Servomotor-end Connector Kit Specifcations: For 200 to 600 W Servomotors
Order No.
JZSP-CSM9-2-E
Applicable Servomotors SGMJV-02A, -04A
Outer Diameter of
Insulating Sheath
Crimp
Tool
Hand tool YRS-8861
Applicable Cable
Outer Diameter
70.3 dia. mm
(5) Servomotor-end Connector Kit Specifcations: For 750 W Servomotors
Order No.
JZSP-CSM9-3-E
Applicable Servomotors SGMJV-08A
Cable Type Standard
Electrical Contact
SJ3F-41GF-P1.8
(For power terminals)
SJ3F-01GF-P1.8
(For brake terminals)
Applicable Wire Size AWG16 to 20 AWG20 to 24
Outer Diameter of
Insulating Sheath
1.53 dia. to
2.5 dia. mm
1.11 dia. to
1.86 dia. mm
Crimp
Tool
Hand tool YRF-880 YRF-881
Applicator
APLMK
SF3F/M-41-20
APLMK
SF3F/M-01-20
Mounting Screw M2.5 Pan-head screw
Applicable Cable
Outer Diameter
80.3 dia. mm
Pin No.6
Pin No.1
1
3
21 21
654 321
Pin No.1
Pin No.6
1
5
27 21
1 2 3 4 5 6
31
(6) Cable Specifcations: For 50 to 600 W Servomotors
Order No.* JZSP-CSM90--E (50 m max.) JZSP-CSM80--E (50 m max.)
Specifications
UL2517 (Max. operating temperature: 105C)
AWG206C
For power line: AWG20 (0.52 mm
2
)
For holding brake line: AWG20 (0.52 mm
2
)
AWG226C
2
)
2
)
Internal Configuration and
Lead Color
Yaskawa Standard
Specifications
(Standard Length)
Cable length: 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m
(7) Cable Specifcations: For 750 W Servomotors
Example: JZSP-CSM90-05-E (5 m)
Specifications
AWG164C, AWG202C
2
)
2
)
AWG164C, AWG222C
2
)
2
)
Lead Color
Yaskawa Standard
Specifications
(Standard Length)
Black
Green/
(yellow)
Blue White
Red
Black
Black
White
Blue Red
Black
Green/
(yellow)
Selecting Cables
Servomotors
SGMJV
Rotary Motors
32
Selecting Cables
Name Length
Order No.
Cable with
Connectors
(For Incremental
Encoder)
(1)
Cable with
Connectors
(For Absolute
Encoder, with a
Battery Case)
(2)
SERVOPACK-end
Connector Kit
J ZSP-CMP9-1-E
(3)
Encoder-end
Connector Kit
J ZSP-CSP9-2-E
Cables
(4)
Crimping Type (A crimping tool is required)
Soldered
Note: When the battery from the host controller is used for the absolute encoder, no battery case is required. In this case, use a cable for the incremental encoders.
L
Connector
Plug Connector
(Crimped)(Molex Japan Co., Ltd.)
Battery Case
(Battery attached)
L
Connector
(For incremental encoder)
Standard Type
Pin No. Wire Color
Black
Red
Light blue/white
Light blue
Orange/white
Orange 9
4
8
5
3
6
Pin No. Signal
6
5
4
3
2
1
Shell FG Shell FG
SERVOPACK End
Shield
Wire
/PS
PS
BAT ()
BAT (+)
PG 5V
PG 0V
Pin No. Signal
2
1
Battery Case
Pin No. Wire Color
Black
Red
Light blue/white
Light blue
Orange/white
Orange 9
4
8
5
3
6
Pin No. Signal
6
5
4
3
2
1
Shell FG Shell FG
SERVOPACK End
Shield
Wire
/PS
PS
BAT ()
BAT (+)
BAT ()
BAT (+)
PG 5V
PG 0V
Standard Type
Flexible Type
Pin No. Wire Color
Green
Orange
Black/pink
Red/pink
Black/light blue
Red/light blue 9
4
8
5
3
6
Pin No. Signal
6
5
4
3
2
1
Shell FG Shell FG
SERVOPACK End
Shield
Wire
/PS
PS
BAT ()
BAT (+)
PG 5V
PG 0V
Pin No. Signal
2
1
Battery Case
Pin No. Wire Color
Green
Orange
Black/pink
Red/pink
Black/light blue
Red/light blue 9
4
8
5
3
6
Pin No. Signal
6
5
4
3
2
1
Shell FG Shell FG
SERVOPACK End
Shield
Wire
/PS
PS
BAT ()
BAT (+)
BAT ()
BAT (+)
PG 5V
PG 0V
Flexible Type
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Order No.
J ZSP-CMP9-1-E
J ZSP-CSP9-2-E
Manufacturer Molex J apan Co., Ltd. Molex J apan Co., Ltd.
Specifications
55100-0670 (soldered) 54346-0070 (crimped)*
Mounting screw: M2 pan-head screw (2)
Applicable cable outer diameter of applicable cable:
Applicable wire size: AWG22 to 26
Outer diameter of insulating sheath: 1.05 dia. to 1.4
dia. mm
External
Dimensions
(Units: mm)
1 2
3 4
5 6
(12) (33)
(
1
9
)
6
9
1 7
5
17
1
1
20.5
(27)
2-M2
Pan-head
Screws
*: A crimp tool is required.
The following crimp tools are applicable for the cables provided by Yaskawa. When using other wire sizes, contact the respective manufacturer for crimp tools.
Applicable crimp tool for Yaskawas wire size: Hand Tool Model No. 57175-5000
Applicator Model No. 57175-3000
Specifications
AWG222C+AWG242P
AWG22 (0.33 mm
2
)
AWG24 (0.20 mm
2
)
AWG222C+AWG242P
AWG22 (0.33 mm
2
)
AWG24 (0.20 mm
2
)
and Lead Color
Yaskawa Standards
Specifications
(Standard Length)
Example: J ZSP-CSP09-05-E (5 m)
Black/
light blue
Red/
light blue
Black/
pink
Red/
pink
Orange Green
Light blue/
white
Orange
Orange/
white
Light blue
Red Black
Selecting Cables
34
Name Length
Order No.
Standard Type
Encoder-end Cables
0.3 m J ZSP-CSP11-E (1)

(2) 40 m J ZSP-UCMP00-40-E

(Required when an absolute encoder is used.)
0.3 m J ZSP-CSP12-E* (3)
Cables
(4) 40 m J ZSP-CMP19-40-E
*: When using an incremental encoder or using an absolute encoder with a battery connected to the host controller, no battery case is required.
(1) Wiring Specifications for Encoder-end Cable
0.3 m
Battery Case
(Battery attached)
0.3 m
Connector
L
Pin No. Wire Color
Black
Red
Light blue/white
Light blue
Orange/white
Orange 9
4
8
5
3
6
Pin No. Signal
6
5
4
3
2
1
Shell FG Shell FG
SERVOPACK End
Shield
Wire
/PS
PS
BAT ()
BAT (+)
PG 5V
PG 0V
Pin No. Wire Color
Black
Red
Light blue/white
Light blue
Orange/white
Orange 3
5
4
6
2
1
Pin No. Signal
6
5
4
3
2
1
Shell FG Shell FG
SERVOPACK End
Shield
Wire
/PS
PS
BAT ()
BAT (+)
PG 5V
PG 0V
Pin No. Signal
2
1
Battery Case
Pin No. Wire Color
Black
Red
Light blue/white
Light blue
Orange/white
Orange 3
5
4
6
2
1
Pin No. Signal
6
5
4
3
2
1
Shell FG Shell FG
SERVOPACK End
Shield
Wire
/PS
PS
BAT ()
BAT (+)
BAT ()
BAT (+)
PG 5V
PG 0V
(3) Wiring Specifcations for Cable with a Battery
Case
Item Standard Type
Specifications
AWG162C+AWG262P
AWG16 (1.31 mm
2
)
AWG26 (0.13 mm
2
)
and Lead Colors
Yaskawa Standard
Specifications
(Standard Length)
Red
Light Blue
/white
Light Blue
Orange
/white
Orange
Black
Selecting Cables
Servomotors
SGMJV
Rotary Motors
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35
2Without Gears
7th digit Options
Code Specifications
1 Without options
C
With holding brake
(24 VDC)
E
(24 VDC)
S With oil seal
Code Specifications
3 20-bit absolute *
Code Specifications
A5 50 W
01 100 W
C2 150 W
02 200 W
04 400 W
06 550 W
08 750 W
10 1.0 kW
Code Specifications
B With two flat seats
6th digit Shaft End
Code Specifications
A Standard
Code Specifications
A 200 VAC
SGMAV - 01 A D A 2 1
Series
Servomotor
SGMAV
7th
digit
6th
digit
5th
digit
4th
digit
3rd
digit
1st+2nd
digits
Model Designations
*: When exporting the servomotors themselves, export
restrictions may apply. Follow each countrys export
restrictions.
NOTE: Shaded items are non-stock.
Rotary Servomotors
SGMAV
Servomotors
SGMAV
Rotary Motors
36
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1Super high power rate (Extremely low inertia)
1Instantaneous peak torque (300% of rated torque)
1Mounted high-resolution serial encoder:
20 bits
1Maximum speed: 6,000 min
-1
1Wide selection: 50 W to 1.0 kW capacity, holding
brake and gear options
1Chip mounters
1Robots
Features Application Examples
37
Notes: 1 The solid, dotted, and dashed-dotted lines of the intermittent duty zone indicate the characteristics when a servomotor runs with the following combinations:
An SGMAV-A5A servomotor has the same characteristics in combination with three-phase 200 V and single-phase 200 V SERVOPACKs.
2 The characteristics of the intermittent duty zone differ depending on the supply voltages.
4 When the main circuit cable length exceeds 20 m, note that the intermittent duty zone of the Torque-Motor Speed Characteristics will shrink as the
line-to-line voltage drops.
Voltage 200 V
Servomotor Model: SGMAV- A5A 01A C2A 02A 04A 06A 08A 10A
Rated Output
*1
W 50 100 150 200 400 550 750 1000
Rated Torque
*1, *2
Nm 0.159 0.318 0.477 0.637 1.27 1.75 2.39 3.18
*1
Nm 0.477 0.955 1.43 1.91 3.82 5.25 7.16 9.55
Rated Current
*1
A
rms
0.66 0.91 1.3 1.5 2.6 3.8 5.3 7.4
*1
A
rms
2.1 2.8 4.2 5.3 8.5 12.2 16.6 23.9
Rated Speed
*1
min
-1
3000
Max. Speed
*1
min
-1
6000
rms
0.265 0.375 0.381 0.450 0.539 0.496 0.487 0.467
-4
kgm
2
0.0242
(0.0389)
0.0380
(0.0527)
0.0531
(0.0678)
0.116
(0.180)
0.190
(0.254)
0.326
(0.403)
0.769
(0.940)
1.20
(1.41)
Rated Power Rate
*1
kW/s 10.4 26.6 42.8 35.0 84.9 93.9 74.1 84.3
*1
rad/s
2
65800 83800 89900 54900 67000 53700 31000 26500
Applicable SERVOPACK SGDV- R70 R90 1R6A,2R1F 2R8 5R5A 5R5A 120A
SGMAV-A5A, -01A: 200 mm200 mm6 mm
SGMAV-C2A, -02A, -04A, -06A, -08A: 250 mm250 mm6 mm
SGMAV-10A: 300 mm300 mm12 mm
1Torque-Motor Speed Characteristics
A
: Continuous Duty Zone
B
: Intermittent Duty Zone
(See Note3)
Torque ()
SGMAV-06A SGMAV-08A
A B A B
M
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S
p
e
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d

(
m
i
n
-
1
)
Torque ()
M
o
t
o
r

S
p
e
e
d

(
m
i
n
-
1
)
Torque ()
M
o
t
o
r

S
p
e
e
d

(
m
i
n
-
1
)
Torque ()
M
o
t
o
r

S
p
e
e
d

(
m
i
n
-
1
)
Torque ()
M
o
t
o
r

S
p
e
e
d

(
m
i
n
-
1
)
Torque ()
M
o
t
o
r

S
p
e
e
d

(
m
i
n
-
1
)
Torque ()
M
o
t
o
r

S
p
e
e
d

(
m
i
n
-
1
)
Torque ()
M
o
t
o
r

S
p
e
e
d

(
m
i
n
-
1
)
0 1.5 3 4.5 6
4000
3000
2000
1000
5000
6000
0
0 2 4 6 8
4000
3000
2000
1000
5000
6000
0
0 0.15 0.3 0.45 0.6
SGMAV-A5A
A B
4000
3000
2000
1000
5000
6000
0
SGMAV-01A
A B
0 0.25 0.5 0.75 1
4000
3000
2000
1000
5000
6000
0
SGMAV-C2A
A B
0 0.4 0.8 1.2 1.6
4000
3000
2000
1000
5000
6000
0
SGMAV-02A
A B
0 0.5 1 1.5 2
4000
3000
2000
1000
5000
6000
0
SGMAV-10A
A B
0 2.5 5 7.5 10
4000
3000
2000
1000
5000
6000
0
SGMAV-04A
A B
0 1 2 3 4
4000
3000
2000
1000
5000
6000
0
Thermal Class: B
Servomotors
SGMAV
Rotary Motors
38
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1Derating Rate for Servomotor Fitted with an Oil Seal
When a motor is fitted with an oil seal, use the following derating rate because of the higher friction torque.
Servomotor Model
SGMAV-
A5A 01A C2A 02A 04A 06A 08A 10A
Derating Rate % 80 90 95
Holding Brake
Rated Voltage
Servomotor
Model
Servomotor
Rated Output
W
Capacity
W
Holding
Torque Nm
Coil Resistance
W(at 20C)
Rated Current
A(at 20C)
Brake Release
Time ms
Brake Operation
Time ms
24 VDC
+10%
0
SGMAV-A5A 50
5.5
0.159
103 0.23 60 100
SGMAV-01A 100 0.318
SGMAV-C2A 150 5.1 0.477 114 0.21 60 100
SGMAV-02A 200
6
0.637
97.4 0.25 60 100
SGMAV-04A 400 1.27
SGMAV-06A 550 8 1.75 74.3 0.32 80 100
SGMAV-08A 750 6.5 2.39 87.7 0.27 80 100
SGMAV-10A 1000 7 3.18 82.8 0.29 80 100
2 The holding brake open time and holding brake operation time vary depending on which discharge circuit is used. Make sure holding brake open time and
holding brake operation time are correct for your servomotor.
Detecting time (s)
(%)
SGMAV-A5A, 01A, C2A
SGMAV-02A, 04A, 06A, 08A,10A
10000
1000
100
10
1
100 200 300
Note: Overload characteristics shown above do not guarantee continuous duty of 100%
or more output. Use a servomotor with effective torque within the continuous
duty zone of Torque-Motor Speed Characteristics.
39
The allowable load moment of inertia (JL) depends on motor capacity, as shown above. This value is provided strictly as a
guideline and results may vary depending on servomotor drive conditions.
Use the AC servo drive capacity selection program SigmaJ unmaSize+to check the operation conditions.
The program can be downloaded for free from our web site (http://www.e-mechatronics.com/).
moment of inertia. SERVOPACKs with a built-in regenerative resistor may generate a regenerative overload alarm (A.320).
Take one of the following steps if this occurs.
Install an external regenerative resistor if the alarm cannot be cleared using the steps above. Refer to Regenerative
Resistors on page 386.
Regenerative resistors are not built into SERVOPACKs for 400 W motors or less.
External regenerative resistors are required when this condition is exceeded or if the allowable loss capacity (W) of the
built-in regenerative resistor is exceeded due to regenerative drive conditions when a regenerative resistor is already built in.
Design the mechanical system so thrust and radial loads applied to the servomotor shaft end during operation fall within the ranges
shown in the table.
Servomotor Model
Allowable Radial
Load (Fr) N
Allowable Thrust
Load (Fs) N
LR
mm
Reference Diagram
SGMAV-
A5A
78 54 20 01A
C2A
02A
245 74 25 04A
06A
08A
392 147 35
10A
Fr
Fs
LR
The rotor moment of inertia ratio is the value for a servomotor without a gear and a brake.
Servomotor Model
Servomotor
Rated Output
SGMAV-
A5A, 01A, C2A, 02A 50 to 200 W 30 times
04A, 06A, 08A 400 to 750 W 20 times
10A 1000 W 10 times
Servomotors
SGMAV
Rotary Motors
40
*: When you need the same shaft diameter as the conventional servomotors, contact your Yaskawa representative.
3
0
0
-
0
. 0
2
1
2
9
.
8

D
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a
.
7.5
1.5
Oil Seal Cover
D
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a
.
1With an Oil Seal
Note: The 7th digit of the model designation is S or E.
The key dimensions are the same as those in the table above.
Shaft End and Other Options
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(1) 50 to 150 W
Model
SGMAV-
L LL LM S TapDepth
Key Dimensions
Approx.
Mass kg
QK U W T
A5AA21
(A5AA2C)
95.5
(140.5)
70.5
(115.5)
38.5 8
0 *
0.009
No tap No key
0.3
(0.6)
A5AA61
(A5AA6C)
M36L 14 1.8 3 3
01AA21
(01AA2C)
107.5
(152.5)
82.5
(127.5)
50.5 8
0
0.009
No tap No key
0.4
(0.7)
01AA61
(01AA6C)
M36L 14 1.8 3 3
C2AA21
(C2AA2C)
119.5
(164.5)
94.5
(139.5)
62.5 8
0
0.009
No tap No key
0.5
(0.8)
C2AA61
(C2AA6C)
M36L 14 1.8 3 3
QH
H
1
H2
8
D
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0
-
0
.
0
0
9
Model
SGMAV-
Dimensions of Servomotor with Two Flat Seats
QH H1 H2
A5AAB
15 7.5 7.5 01AAB
C2AAB
Y
Y
Cross Section Y-Y
Shaft End
With Key and Tap
4
6
D
ia
.
40
L
LM
20
2.5
25
QK
LL
T
6.1
19
20.5
1
4
17 2
1
2
W
U
3
0
D
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a
.
0
-
0
.
0
2
1
S

D
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a
.
5
0.02
A
0.04 A
A
Tap Depth 2-4.3 Dia.
0.04 Dia.
41
Y
Y
21 17 1.5
LM
L
QK
S

D
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L
A

D
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.
M
H
MW
LC
L
B

D
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.
LG
LE
LR LL
MD
20.5
1
4
0.04 A
0.02
TapDepth 4-LZ Dia.
0.04 Dia. A
A
Cross Section Y-Y
Shaft End
With Key and Tap
T
W
U
(2) 200 W to 1.0 kW
Model
SGMAV-
L LL LM
S
Tap
Depth
Key Dimensions
MD MW MH
Approx.
Mass kg
LR LE LG LC LA LB LZ QK U W T
02AA21
(02AA2C)
110
(150)
80
(120)
51 30 3 6 60 70 50
0
0.025
5.5 14
0
0.011
No tap No key
8.5 21 13
0.9
(1.5)
02AA61
(02AA6C)
M58L 14 3 5 5
04AA21
(04AA2C)
128.5
(168.5)
98.5
(138.5)
69.5 30 3 6 60 70 50
0
0.025
5.5 14
0
0.011
No tap No key
8.5 21 13
1.2
(1.8)
04AA61
(04AA6C)
M58L 14 3 5 5
06AA21
(06AA2C)
154.5
(200.5)
124.5
(170.5)
95.5 30 3 6 60 70 50
0
0.025
5.5 14
0
0.011
No tap No key
8.5 21 13
1.7
(2.4)
06AA61
(06AA6C)
M58L 14 3 5 5
08AA21
(08AA2C)
155
(200)
115
(160)
85 40 3 8 80 90 70
0
0.030
7
19
0 *
0.013
No tap No key
13.8 27 15
2.6
(3.2)
08AA61
(08AA6C)
M610L 22 3.5 6 6
10AA21
(10AA2C)
185
(235)
145
(195)
115 40 3 8 80 90 70
0
0.030
7
19
0 *
0.013
No tap No key
13.8 27 15
3.6
(4.6)
10AA61
(10AA6C)
M610L 22 3.5 6 6
Model
SGMAV-
Dimensions of Servomotor with Two Flat Seats
QH S H1 H2
02AAB
14 14
0
0.011
13 13 04AAB
06AAB
08AAB
22 19
0
0.013
18 18
10AAB
2With an Oil Seal
Shaft End and Other Options
QH
H
1
H2
S

D
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a
.
*: When you need the same shaft diameter as the conventional servomotors, contact your Yaskawa representative.
Model
SGMAV-
Dimensions of Servomotor with an Oil Seal
E1 E2 LS1 LS2
02A, 04A, 06A 36 48 4 10
08A,10A 49 66 6 11
Note: The 7th digit of the model designation is S or E.
The key dimensions are the same as those in the table above.
LE
LS1
LS2
E
1

D
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a
.
E
2

D
i
a
.
Oil Seal Cover
Servomotors
SGMAV
Rotary Motors
42
Selecting Cables
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1Cables Connections
SGDV
SERVOPACK
Servomotor
Main Circuit Cable
Encoder Cable
Battery Case
encoder is used.)
SGMAV
Servomotor
SGDV
SERVOPACK
(Example)
Relay Encoder Cable
encoder is used.)
Encoder-end Cable
SGMAV
Servomotor
Cable
Servomotor
Main Circuit Cable
CAUTION
Name
Servomotor
Rated Output
Length
Order No.
For
Servomotor
without
Holding
Brakes
50 to 150 W
(1)
200 to 550 W
750 W,
1.0 kW
(Contd)
50 mm
Wire Markers
43
Selecting Cables
Name
Servomotor
Rated Output
Length
Order No.
For
Servomotor
with Holding
Brakes
50 to 150 W
(2)
200 to 550 W
750 W,
1.0 kW
Servomotor-
end Connector
Kit
50 to 150 W JZSP-CSM9-1-E N/A (3)
200 to 550 W JZSP-CSM9-2-E N/A (4)
750 W, 1.0 kW JZSP-CSM9-3-E N/A (5)
Cables
50 to 550 W
(6)
750 W,
1.0kW
(7)
Crimping Type
50 mm L
Wire Markers
M4 Crimped Terminal
Servomotors
SGMAV
Rotary Motors
44
Selecting Cables
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(1) Wiring Specifcations for Servomotors without Holding Brakes (2) Wiring Specifcations for Servomotor with Holding Brakes
(3) Servomotor-end Connector Kit Specifications: For 50 to 150 W Servomotors
Order No.
JZSP-CSM9-1-E
Applicable Servomotors SGMAV-A5A, -01A, -C2A
Outer Diameter of
Insulating Sheath
Crimp
Tool
Hand tool YRS-8841
Applicable Cable
Outer Diameter
70.3 dia. mm
Pin No.6
Pin No.1
19
1
2
20
654 321
Pin No. Signal
1
2
3
4
5
6
Phase U
Phase V
Phase W
FG
Signal Wire Color

Phase U
Phase V
Phase W
FG
Red
White
Blue
Green/yellow
SERVOPACK-end Leads
Shield
Wire*
1
2
3
4
5
6
Phase U
Phase V
Phase W
FG
Brake
Brake
Brake
Brake
Phase U
Phase V
Phase W
FG
Red
White
Blue
Green/yellow
Black
Black
SERVOPACK-end Leads
* Shield wire only available on Premium Type cables.
Shield
Wire*
* Shield wire only on Premium Type Cables
45
Selecting Cables
(4) Servomotor-end Connector Kit Specifcations: For 200 to 550 W Servomotors
Order No.
JZSP-CSM9-2-E
Applicable Servomotors SGMAV-02A, -04A, -06A
Outer Diameter of
Insulating Sheath
Crimp
Tool
Hand tool YRS-8861
Applicable Cable
Outer Diameter
70.3 dia. mm
Pin No.6
Pin No.1
1
3
21 21
654 321
(5) Servomotor-end Connector Kit Specifcations: For 750 W, 1.0 kW Servomotors
Order No.
JZSP-CSM9-3-E
Applicable Servomotors SGMAV-08A,-10A
Cable Type Standard
Electrical Contact
SJ3F-41GF-P1.8
(For power terminals)
SJ3F-01GF-P1.8
(For holding brake terminals)
Applicable Wire Size AWG16 to 20 AWG20 to 24
Outer Diameter of
Insulating Sheath
1.53 dia. to
2.5 dia. mm
1.11 dia. to
1.86 dia. mm
Crimp
Tool
Hand tool YRF-880 YRF-881
Applicator
APLMK
SF3F/M-41-20
APLMK
SF3F/M-01-20
Mounting Screw M2.5 Pan-head screw
Applicable Cable
Outer Diameter
80.3 dia. mm
Pin No.1
Pin No.6
1
5
27 21
1 2 3 4 5 6
Servomotors
SGMAV
Rotary Motors
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Selecting Cables
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(6) Cable Specifcations: For 50 to 550 W Servomotors
Specifications
AWG206C
2
)
2
)
AWG226C
2
)
2
)
Lead Color
Yaskawa Standard
Specifications
(Standard Length)
(7) Cable Specifcations: For 750 W, 1.0 kW Servomotors
Specifications
AWG164C, AWG202C
2
)
2
)
AWG164C, AWG222C
2
)
2
)
Lead Color
Yaskawa Standard
Specifications
(Standard Length)
Black
Blue White
Red
Black
Green
(yellow)
Black
White
Blue Red
Black
Green/
(yellow)
47
Selecting Cables
Name Length
Order No.
Cable with
Connectors
(For Incremental
Encoder)
3 m JZSP-CSP01-03-E JZSP-CSP21-03-E
(1)
Cable with
Connectors
(For Absolute
Encoder, with a
Battery Case)
(2)
SERVOPACK-end
Connector Kit
JZSP-CMP9-1-E
(3)
Encoder-end
Connector Kit
JZSP-CSP9-2-E
Cables
3 m JZSP-CMP09-03-E JZSP-CSP39-03-E
(4)
Crimping Type (A crimp tool is required.)
Soldered
Note: When the battery from the host controller is used for the absolute encoder, no battery case is required. In this case, use a cable for the incremental encoders.
Connector (Crimped)
L
Connector
Connector
Battery Case
(Battery attached)
L
Connector
Pin No. Wire Color
Black
Red
Light blue/white
Light blue
Orange/white
Orange 9
4
8
5
3
6
Pin No. Signal
6
5
4
3
2
1
Shell FG Shell FG
SERVOPACK End
Shield
Wire
/PS
PS
BAT ()
BAT (+)
PG 5V
PG 0V
Pin No. Wire Color
Green
Orange
Black/pink
Red/pink
Black/light blue
Red/light blue 9
4
8
5
3
6
Pin No. Signal
6
5
4
3
2
1
Shell FG Shell FG
SERVOPACK End
Shield
Wire
/PS
PS
BAT ()
BAT (+)
PG 5V
PG 0V
2
1
9
4
8
5
3
6
6
5
4
3
2
1
FG
/PS
PS
BAT
BAT+
BAT
BAT+
PG 5V
PG 0V
Pin No. Signal
Battery Case
Pin No. Wire Color
Black
Red
Light blue/white
Light blue
Orange/white
Orange
Pin No. Signal
Shell Shell FG
SERVOPACK End
Shield
Wire
Pin No. Signal
2
1
Battery Case
9
4
8
5
3
6
6
5
4
3
2
1
FG
/PS
PS
BAT ()
BAT (+)
PG 5V
PG 0V
Pin No. Wire Color
Green
Orange
Black/pink
Red/pink
Black/light blue
Red/light blue
Pin No. Signal
Shell Shell FG
SERVOPACK End
Shield
Wire
BAT ()
BAT (+)
Servomotors
SGMAV
Rotary Motors
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Selecting Cables
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Order No.
JZSP-CMP9-1-E
JZSP-CSP9-2-E
Specifications
55100-0670 (soldered) 54346-0070 (crimped)*
Mounting screw: M2 pan-head screw (2)
Outer diameter of applicable cable: 6.3 dia. to 7.7
dia. mm
Outer diameter of insulating sheath: 1.05 dia. to 1.4
dia. mm
External
Dimensions
mm
1 2
3 4
5 6
12 33
1
9
6
9
1 7
5
17
1
1
20.5
27
2-M2
Pan-head
Screws
*: A crimp tool is required.
The following crimp tools are applicable for the cables provided by Yaskawa. When using other wire sizes, contact the respective manufacturer for crimp tools.
Applicable crimp tool for Y askawas wire size: Hand Tool Model No. 57175-5000
Applicator Model No. 57175-3000
Order No.* JZSP-CMP09--E JZSP-CSP39--E
Specifications
AWG222C+AWG242P
AWG22 (0.33 mm
2
)
AWG24 (0.20 mm
2
)
AWG222C+AWG242P
AWG22 (0.33 mm
2
)
AWG24 (0.20 mm
2
)
and Lead Color
Yaskawa Standards
Specifications
(Standard Length)
Light blue/
white
Orange
Orange/
white
Light blue
Red Black
Black/
light blue
Red/
light blue
Black/
pink
Red/
pink
Orange Green
49
Selecting Cables
Name Length
Order No.
Standard Type
Specifications Datails
Encoder-end Cables
0.3 m JZSP-CSP11-E (1)

30 m JZSP-UCMP00-30-E
(2) 40 m JZSP-UCMP00-40-E

(Required when an absolute encoder is used.)
0.3 m JZSP-CSP12-E* (3)
Cables
30 m JZSP-CMP19-30-E
(4) 40 m JZSP-CMP19-40-E
* When using an incremental encoder or using an absolute encoder with a battery connected to the host controller, no battery case is required.
(1) Wiring Specifications for Encoder-end Cable (2) Wiring Specifications for Cable with Connectors
9
4
8
5
3
6
6
5
4
3
2
1
FG
/PS
PS
PG 5V
PG 0V
Pin No. Wire Color
Black
Red
Light blue/white
Light blue
Orange/white
Orange
Pin No. Signal
Shell Shell FG
SERVOPACK End
Shield
Wire
BAT ()
BAT (+) 3
5
4
6
2
1
6
5
4
3
2
1
FG
/PS
PS
PG 5V
PG 0V
Pin No. Wire Color
Black
Red
Light blue/white
Light blue
Orange/white
Orange
Pin No. Signal
Shell Shell FG
SERVOPACK End
Shield
Wire
BAT ()
BAT (+)
0.3 m
Connector
L
0.3 m
Servomotors
SGMAV
Rotary Motors
50
Selecting Cables
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2
1
3
5
4
6
2
1
6
5
4
3
2
1
FG FG
/PS
PS
PG 5V
PG 0V
Pin No. Signal
Battery Case
Pin No. Wire Color
Black
Red
Light blue/white
Light blue
Orange/white
Orange
Pin No. Signal
Shell Shell
SERVOPACK End
Shield
Wire
BAT ()
BAT (+)
BAT ()
BAT (+)
Item Standard Type
Order No.* JZSP-CMP19--E
Specifications
AWG162C+AWG262P
AWG16 (1.31 mm
2
)
AWG26 (0.13 mm
2
)
and Lead Colors
Yaskawa Standard
Specifications
(Standard Length)
Example: JZSP-CMP19-30-E (30 m)
Red
Light blue
/white
Light blue
Orange
/white
Orange
Black
51
Model Designations
SGMGV
SGMGV - 03 A D A 2 1
Code Specifications
1 Without options
B
With holding brake
(90 VDC)
C
With holding brake
(24 VDC)
D
(90 VDC)
E
(24 VDC)
S With oil seal
7th
digit
6th
digit
5th
digit
4th
digit
3rd
digit
1st+2nd
digits
Code Specifications
A 200 VAC
D 400 VAC
Code Specifications
3 20-bit absolute
Code Specifications
A Standard
Code Specifications
6
Straight with key and tap
6th digit Shaft End
7th digit Options
Rotary Servomotors
Series
Servomotor
SGMGV
Cade Specifications
03 300 W
05 450 W
09 850 W
13 1.3 kW
20 1.8 kW
30 2.9 kW
44 4.4 kW
55 5.5 kW
75 7.5 kW
1A 11 kW
1E 15 kW
SGMJV

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1High-speed driving of feed shafts for various machines
1Wide selection: 300 W to 15 kW capacity, holding brake
option
1Mounted serial encoder: 20 bits, high resolution
1Protective structure: IP67
1Machine tools
1Transfer machines
SGMGV-03/-05

The connectors are used only for Yaskawa servomotors. Order the
connectors specified by Yaskawa.

Both protective structure IP67 and European Safety Standards compliant
connectors are available.
SGMGV-09 to -1E

The connectors for these models are round. The connectors specified by
Yaskawa are required. Note that the connectors vary depending on the
operation environment of servomotors.

Two types of connectors are available.

Standard connectors

Protective structure IP67 and European Safety Standards compliant
connectors.
Configurations of connectors for the main circuit vary depending on servomotor capacity.
53
Thermal Class: F
Withstand Voltage: 1500 VAC for one minute (200-V Class)
1800 VAC for one minute (400-V Class)
*: These items and torque-motor speed characteristics quoted in combination with a SERVOPACK are at an armature winding temperature of 20C.
Notes: 1 The values in parentheses are for servomotors with holding brakes.
2 The above specifications show the values under the cooling condition when the following heat sinks are mounted on the servomotors.
SGMGV-03D/-05D: 250 mm 250 mm 6 mm (aluminum)
SGMGV-09D/-13D/-20D: 400 mm 400 mm 20 mm (iron)
SGMGV-30D/-44D/-55D/-75D: 550 mm 550 mm 30 mm (iron)
SGMGV-1AD/-1ED: 650 mm 650 mm 35 mm (iron)
Servomotor Model: SGMGV- 03D 05D 09D 13D 20D 30D 44D 55D 75D 1AD 1ED
Rated Output* kW 0.3 0.45 0.85 1.3 1.8 2.9 4.4 5.5 7.5 11 15
Rated Torque* Nm 1.96 2.86 5.39 8.34 11.5 18.6 28.4 35.0 48.0 70.0 95.4
Instantaneous Peak Torque* Nm 5.88 8.92 13.8 23.3 28.7 45.1 71.1 87.6 119 175 224
Rated Current* A
rms
1.4 1.9 3.5 5.4 8.4 11.9 16.5 20.8 25.7 28.1 37.2
Instantaneous Max. Current* A
rms
4 5.5 8.5 14 20 28 40.5 52 65 70 85
Rated Speed* min
-1
1500
Max. Speed* min
-1
3000 2000
rms
1.55 1.71 1.72 1.78 1.50 1.70 1.93 1.80 1.92 2.64 2.74
-4
kgm
2
2.48
(2.73)
3.33
(3.58)
13.9
(16)
19.9
(22)
26
(28.1)
46
(54.5)
67.5
(76.0)
89.0
(97.5)
125
(134)
242
(261)
303
(341)
Rated Power Rate* kW/s
15.5
(14.1)
24.6
(22.8)
20.9
(18.2)
35.0
(31.6)
50.9
(47.1)
75.2
(63.5)
119
(106)
138
(126)
184
(172)
202
(188)
300
(283)
Rated Angular Acceleration* rad/s
2
7900
(7180)
8590
(7990)
3880
(3370)
4190
(3790)
4420
(4090)
4040
(3410)
4210
(3740)
3930
(3590)
3840
(3580)
2890
(2680)
3150
(2960)
Applicable SERVOPACK SGDV- 1R9D 1R9D 3R5D 5R4D 8R4D 120D 170D 210D 260D 280D 370D
400 V Class
200 V Class
*1: These items and torque-motor speed characteristics quoted in combination with a SERVOPACK are at an armature winding temperature of 20C.
*2: Some restrictions apply when using an SGDV-200A SERVOPACK in combination with an SGMGV-30A servomotor.
SGMGV-03A/-05A: 250 mm 250 mm 6 mm (aluminum)
SGMGV-09A/-13A/-20A: 400 mm 400 mm 20 mm (iron)
SGMGV-30A/-44A/-55A/-75A: 550 mm 550 mm 30 mm (iron)
SGMGV-1AA/-1EA: 650 mm 650 mm 35 mm (iron)
Servomotor Model: SGMGV- 03A 05A 09A 13A 20A 30A 44A 55A 75A 1AA 1EA
Rated Output
*1
kW 0.3 0.45 0.85 1.3 1.8 2.9 4.4 5.5 7.5 11 15
Rated Torque
*1
Nm 1.96 2.86 5.39 8.34 11.5 18.6 28.4 35.0 48.0 70.0 95.4
*1
Nm 5.88 8.92 13.8 23.3 28.7 45.1 71.1 87.6 119 175 224
Rated Current
*1
A
rms
2.8 3.8 6.9 10.7 16.7 23.8 32.8 42.1 54.7 58.6 78
*1
A
rms
8 11 17 28 42 56 84 110 130 140 170
Rated Speed
*1
min
-1
1500
Max. Speed
*1
min
-1
3000
2000
rms
0.776 0.854 0.859 0.891 0.748 0.848 0.934 0.871 0.957 1.32 1.37
-4
kgm
2
2.48
(2.73)
3.33
(3.58)
13.9
(16)
19.9
(22)
26
(28.1)
46
(54.5)
67.5
(76.0)
89.0
(97.5)
125
(134)
242
(261)
303
(341)
Rated Power Rate
*1
kW/s
15.5
(14.1)
24.6
(22.8)
20.9
(18.2)
35.0
(31.6)
50.9
(47.1)
75.2
(63.5)
119
(106)
138
(126)
184
(172)
202
(188)
300
(283)
*1
rad/s
2
7900
(7180)
8590
(7990)
3880
(3370)
4190
(3790)
4420
(4090)
4040
(3410)
4210
(3740)
3930
(3590)
3840
(3580)
2890
(2680)
3150
(2960)
Applicable SERVOPACK SGDV- 3R8A 3R8A 7R6A 120A 180A
330A
200A
*2
330A 470A 550A 590A 780A
Servomotors
SGMGV
Rotary Motors
54
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Servomotor Model
Servomotor
Rated Output
kW
Holding
Torque
Nm
Rated Voltage 24 VDC Rated Voltage 90 VDC
Capacity
W
Rated Current
A (at 20C)
Capacity
W
Rated Current
A (at 20C)
SGMGV-03 0.3 4.5 10 0.42 10 0.11
SGMGV-05 0.45 4.5 10 0.42 10 0.11
SGMGV-09 0.85 12.7 10 0.41 10 0.11
SGMGV-13 1.3 19.6 10 0.41 10 0.11
SGMGV-20 1.8 19.6 10 0.41 10 0.11
SGMGV-30 2.9 43.1 18.5 0.77 18.5 0.21
SGMGV-44 4.4 43.1 18.5 0.77 18.5 0.21
SGMGV-55 5.5 72.6 25 1.05 25 0.28
SGMGV-75 7.5 72.6 25 1.05 25 0.28
SGMGV-1A 11 84.3 32 1.33 32 0.36
SGMGV-1E 15 114.6 35 1.46 35 0.39
2 The holding brake open time and holding brake operation time vary depending on which discharge circuit is used. Make sure holding brake open time and holding
brake operation time are correct for your servomotor.
1Torque-Motor Speed Characteristics (200 V/400 V) A : Continuous Duty Zone B : Intermittent Duty Zone
Note1
A B A B
SGMGV-75A SGMGV-1AA SGMGV-1EA
SGMGV-55A
0 50 100 150 0 50 100 150 200 0 50 100 150 200 250
0 20 40 60 80 100
3000
2000
1000
0
2000
1500
1000
500
0
2000
1500
1000
500
0
3000
2000
1000
0
A B A B A B
A B
SGMGV-03A,-03D
SGMGV-20A,-20D SGMGV-30A,-30D SGMGV-44A,-44D
SGMGV-05A,-05D SGMGV-09A,-09D SGMGV-13A,-13D
0 1 2 3 4 5 6 7
0 5 10 15 20 25 30 35
0 1 2 3 4 5 6 7 8 9 10
0 5 10 15 20 25 30 35 40 45 50 0 10 20 30 40 50 60 70 80
0 2 4 6 8 10 12 14 16 0 5 10 15 20 25
3500
3000
2500
2000
1500
1000
500
0
3500
3000
2500
2000
1500
1000
500
0
3500
3000
2500
2000
1500
1000
500
0
3500
3000
2500
2000
1500
1000
500
0
3500
3000
2500
2000
1500
1000
500
0
3500
3000
2500
2000
1500
1000
500
0
3500
3000
2500
2000
1500
1000
500
0
A B
A B A B A B
A B A B A B
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(
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-
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(
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-
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(
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-
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(
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-
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M
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(
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-
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M
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(
m
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-
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M
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S
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(
m
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-
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M
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S
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(
m
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-
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M
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S
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(
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-
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M
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(
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)
Torque (Nm)
Torque (Nm) Torque (Nm) Torque (Nm) Torque (Nm)
Torque (Nm) Torque (Nm) Torque (Nm)
Torque (Nm) Torque (Nm) Torque (Nm)
Notes: 1 When the effective torque during intermittent duty is within the rated torque, the servomotor can be used within the intermittent duty zone.
55
Servomotor Model
Servomotor Rated
Output
SGMGV-03 to -1E 0.3 to 1.5 kW 5 times

The larger the load moment of inertia, the worse the movement response of the load.


Use the AC servo drive capacity selection program SigmaJunmaSize+ to check the operation conditions.

moment of inertia. SERVOPACKs with a built-in regenerative resistor may generate a regenerative overload alarm (A.320). Take
one of the following steps if this occurs.
Servomotor Model
Allowable Radial
Load (Fr) N
Allowable Thrust
Load (Fs) N
LR
mm
Reference Diagram
SGMGV-
03A21 490 98 37
05A21 490 98 40
09A21 490 98 58
13A21 686 343 58
20A21 980 392 58
30A21 1470 490 79
44A21 1470 490 79
55A21 1764 588 113
75A21 1764 588 113
1AA21 1764 588 116
1EA21 4998 2156 116
Fr
Fs
LR
Servomotors
SGMGV
Rotary Motors
56
(1) 300 W, 450 W
R
1
S

D
i
a
.
Q
1
8

D
i
a
.
5
LR
Shaft End
Note: For the specifications of the other
shaft ends, refer to page 58.
3
5

D
i
a
.
1
0
0
D
ia
. 90
1
2
0
D
ia
.
5
0
17
38
8
0
D
i
a
.
0
-
0
.
0
3
0
S

D
i
a
.
L
LL
LM 36
LR
5 10
KB1
KB2
7
0
4-6.6 Dia. Mounting Holes
A
7
9

D
i
a
.
0.04 A
0.04 Dia. A
0.02
Model
SGMGV-
L LL LM LR KB1 KB2
Shaft End Dimensions
Approx. Mass
kg
S Q
03A21 163 126 90 37 75 114 14
0
-0.011
25 2.6
05A21 179 139 103 40 88 127 16
0
-0.011
30 3.2
Note: Models with oil seals are of the same configuration.
3
7
10 8
4
1
Cable Specifications for Encoder-end Connector
(20-bit Encoder)
Receptacle: CM10-R10P-D
Applicable plug (To be provided by the customer)
Plug: CM10-AP10S--D (Angle)
CM10-SP10S--D (Straight)
(Boxes () indicate a value that varies,
depending on cable size.)
Manufacturer: DDK Ltd.
1 PS 6 BAT (+)
2 /PS 7 -
3 - 8 -
4 PG 5V 9 PG 0V
5 BAT (-) 10 FG (Frame ground)
With an Absolute Encoder
1 PS 6 -
2 /PS 7 -
3 - 8 -
4 PG 5V 9 PG 0V
5 - 10 FG (Frame ground)
With an Incremental Encoder
Cable Specifications for Servomotor-end
Connector
PE FG (Frame ground)
5 -
4 -
3 Phase U
2 Phase V
1 Phase W
1
2
3
4
5
P
E
Manufacturer: Japan Aviation Electronics
Industry,Ltd.
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LE
LR
4
4

D
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.
R
1
LE
LR
2
8

D
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.
Q
R
1
S
D
ia
.
4
5

D
ia
.
Q
Shaft End
SGMGV-30 to -75 SGMGV-09 to -20
Note: For the specifications of the other shaft
ends, refer to page 58.
L
A
D
ia
.
17
36
L
LL LR
LM
LG LE
S

D
ia
.
L
B

D
i
a
.
5
0
K
L
1
KB1
KB2
I
E
L
H
D
ia
.
0.04
0.04 A
0.04 Dia. A
0.02
*
*: When using SGMGV-55 and
-75 servomotors
A
4-LZ Dia.
Mounting Holes
7
9

D
i
a
.
6
2

D
ia
.
Model
SGMGV-
L LL LM LR KB1 KB2 IE KL1
Shaft End
Dimensions
Approx.
Mass
kg LA LB LC LE LG LH LZ S Q
09A21 195 137 101 58 83 125 104 145 110
0
-0.035
130 6 12 165 9 19
0
-0.013
40 5.5
13A21 211 153 117 58 99 141 104 145 110
0
-0.035
130 6 12 165 9 22
0
-0.013
40 7.1
20A21 229 171 135 58 117 159 104 145 110
0
-0.035
130 6 12 165 9 24
0
-0.013
40 8.6
30A21 239 160 124 79 108 148 134 200 114.3
0
-0.025
180 3.2 18 230 13.5 35
+0.01
0
76 13.5
44A21 263 184 148 79 132 172 134 200 114.3
0
-0.025
180 3.2 18 230 13.5 35
+0.01
0
76 17.5
55A21 334 221 185 113 163 209 123 144 200 114.3
0
-0.025
180 3.2 18 230 13.5 42
0
-0.016
110 21.5
75A21 380 267 231 113 209 255 123 144 200 114.3
0
-0.025
180 3.2 18 230 13.5 42
0
-0.016
110 29.5
3
7
10 8
4
1
(20-bit Encoder)
(Boxes () indicate a value that varies, depending on cable
size.)
Connector
A Phase U
B Phase V
C Phase W
D FG (Frame ground)
1 PS 6 BAT (+)
2 /PS 7 -
3 - 8 -
4 PG 5V 9 PG 0V
1 PS 6 -
2 /PS 7 -
3 - 8 -
4 PG 5V 9 PG 0V
A
B C
D
(2) 850 W to 7.5 kW
Servomotors
SGMGV
Rotary Motors
58
Shaft End
Note: For the specifications of the
other shaft ends, refer to page 58.
R
1
L
A
D
ia
.
L
H
D
ia
.
I
E
1
56 56
LR
LE
LM
LL
L
LR
36
LG LE
S

D
i
a
.
L
B

D
i
a
.
KB2
KB1
5
0
K
L
1
17
S
1

D
ia
.
110
S

D
i
a
.
0.04
0.06 A
0.04 Dia. A
A
7
9

D
i
a
.
8
O

D
1
a
.
4-LZ Dia.
Mounting Holes
(3) 11 kW, 15 kW
Model
SGMGV-
L LL LM LR KB1 KB2 IE KL1
Shaft End
Dimensions
Approx.
Mass
kg
LA LB LC LE LG LH LZ S S1
1AA21 447 331 295 116 247 319 150 168 235 200
0
-0.046
220 4 20 270 13.5 42
0
-0.016
50 57
1EA21 509 393 357 116 309 381 150 168 235 200
0
-0.046
220 4 20 270 13.5 55
+0.030
+0.011
60 67
3
7
10 8
4
1
(20-bit Encoder)
(Boxes () indicate a value that varies,
depending on cable size.)
Connector
A Phase U
B Phase V
C Phase W
D FG (Frame ground)
1 PS 6 BAT (+)
2 /PS 7 -
3 - 8 -
4 PG 5V 9 PG 0V
1 PS 6 -
2 /PS 7 -
3 - 8 -
4 PG 5V 9 PG 0V
A
B C
D
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(1) 300 W, 450 W
R
1
S

D
ia
.
Q
1
8

D
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a
.
5
LR
Shaft End
3
5

D
i
a
.
1
0
0
D
ia
.
90
1
2
0
D
ia
.
8
0
D
i
a
.
0
-
0
.
0
3
0
KB1
KB2
S

D
ia
.
10 5
LM
LL
L
LR
36
7
05
0
17
38
4-6.6 Dia. Mounting Holes
A
7
9

D
i
a
.
0.04 A
0.04 Dia. A
0.02
Model
SGMGV-
L LL LM LR KB1 KB2
Shaft End Dimensions
Approx. Mass
kg
S Q
03A2 196 159 123 37 75 147 14
0
-0.011
25 3.6
05A2 212 172 136 40 88 160 16
0
-0.011
30 4.2
3
7
10
8
4
1
(20-bit Encoder)
(Boxes () indicate a value that varies, depending on
cable size.)
Connector
PE FG (Frame ground)
5 Brake terminal
4 Brake terminal
3 Phase U
2 Phase V
1 Phase W
1 PS 6 BAT (+)
2 /PS 7 -
3 - 8 -
4 PG 5V 9 PG 0V
1 PS 6 -
2 /PS 7 -
3 - 8 -
4 PG 5V 9 PG 0V
1
2
3
4
5
P
E
Manufacturer: Japan Aviation Electronics
Industry,Ltd.
Servomotors
SGMGV
Rotary Motors
60
(2) 850 W to 7.5 kW
LE
LR
4
4

D
i
a
.
R
1
LE
LR
2
8

D
i
a
.
Q
R
1
S
D
ia
.
4
5

D
i
a
.
S

D
ia
.
Q
Shaft End
SGMGV-30 to -75 SGMGV-09 to -20
Note: For the specifications of the other shaft ends,
refer to page 58.
6
2

D
i
a
.
L
A
D
ia
.
L
H
D
ia
.
36
5
0
17 11
I
E
LE LG
LL
L
LR
LM
L
B

D
i
a
.
S

D
ia
.
KB1
KB3
KB2
K
L
1
K
L
3
0.04
0.02
A
4-LZ Dia.
Mounting Holes
7
9

D
i
a
.
0.04 A
0.04 Dia. A
*
*: When using SGMGV-55 and
-75 servomotors
Model
SGMGV-
L LL LM LR KB1 KB2 KB3 IE KL1 KL3
Shaft End
Dimensions
Approx.
Mass
kg
LA LB LC LE LG LH LZ S Q
09A2 231 173 137 58 83 161 115 104 80 145 110
0
-0.035
130 6 12 165 9 19
0
-0.013
40 7.5
13A2 247 189 153 58 99 177 131 104 80 145 110
0
-0.035
130 6 12 165 9 22
0
-0.013
40 9.0
20A2 265 207 171 58 117 195 149 104 80 145 110
0
-0.035
130 6 12 165 9 24
0
-0.013
40 11.0
30A2 287 208 172 79 108 196 148 134 110 200 114.3
0
-0.025
180 3.2 18 230 13.5 35
+0.01
0
76 19.5
44A2 311 232 196 79 132 220 172 134 110 200 114.3
0
-0.025
180 3.2 18 230 13.5 35
+0.01
0
76 23.5
55A2 378 265 229 113 163 253 205 123 144 110 200 114.3
0
-0.025
180 3.2 18 230 13.5 42
0
-0.016
110 27.5
75A2 424 311 275 113 209 299 251 123 144 110 200 114.3
0
-0.025
180 3.2 18 230 13.5 42
0
-0.016
110 35
3
7
10 8
4
1
(20-bit Encoder)
cable size.)
Cable Specifications for Servomotor-end Connector
A Phase U
B Phase V
C Phase W
D FG (Frame ground)
1 PS 6 BAT (+)
2 /PS 7 -
3 - 8 -
4 PG 5V 9 PG 0V
1 PS 6 -
2 /PS 7 -
3 - 8 -
4 PG 5V 9 PG 0V
A
B C
D
Cable Specifications for Brake-end Connector
(Boxes () indicate a value that varies, depending
on cable size.)
Brake terminal
Brake terminal
Note: No polarity for connection to the brake terminals
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3
7
10 8
4
1
(20-bit Encoder)
cable size.)
A Phase U
B Phase V
C Phase W
D FG (Frame ground)
1 PS 6 BAT (+)
2 /PS 7 -
3 - 8 -
4 PG 5V 9 PG 0V
1 PS 6 -
2 /PS 7 -
3 - 8 -
4 PG 5V 9 PG 0V
A
B C
D
(Boxes () indicate a value that varies, depending
on cable size.)
Brake terminal
Brake terminal
(3) 11 kW, 15 kW
Shaft End
Note: For the specifications of the
other shaft ends, refer to page 82.
R
1
L
A

D
ia
.
L
H
D
ia
.
I
E
56 56
LR
LE
S

D
i
a
.
L
B

D
i
a
.
LL LR
LM
LG LE
36
KB1
KB3
KB2
5
0
K
L
3
K
L
1
11 17
L
S
1

D
i
a
.
S

D
i
a
.
110
0.04
0.04 Dia. A
A
0.06 A
7
9

D
i
a
.
8
0

D
i
a
.
4-LZ Dia. Mounting Holes
Model
SGMGV-
L LL LM LR KB1 KB2 KB3 IE KL1 KL3
Shaft End
Dimensions
Approx.
Mass
kg LA LB LC LE LG LH LZ S S1
1AA2 498 382 346 116 247 370 315 150 168 125 235 200
0
-0.046
220 4 20 270 13.5 42
0
-0.016
50 65
1EA2 598 482 446 116 309 470 385 150 168 125 235 200
0
-0.046
220 4 20 270 13.5 55
+0.030
+0.011
60 85
Servomotors
SGMGV
Rotary Motors
62
Code Specifications Remarks
2 Straight without key Standard
6
Straight with key and tap for one location
(Key slot is J IS B1301-1996 fastening type)
Optional
1Shaft End
SGMGV -
Shaft End
Model SGMGV-
03 05 09 13 20 30/44 55/75 1A 1E
Code: 2 (Straight without Key)
LR 37 40 58 58 58 79 113 116 116
Q 25 30 40 40 40 76 110 110 110
S 14
0
-0.011
16
0
-0.011
19
0
-0.013
22
0
-0.013
24
0
-0.013
35
+0.01
0
42
0
-0.016
42
0
-0.016
55
+0.030
+0.011
Code: 6 (Straight with Key and Tap)
LR 37 40 58 58 58 79 113 116 116
Q 25 30 40 40 40 76 110 110 110
QK 15 20 25 25 25 60 90 90 90
S 14
0
-0.011
16
0
-0.011
19
0
-0.013
22
0
-0.013
24
0
-0.013
35
+0.01
0
42
0
-0.016
42
0
-0.016
55
+0.030
+0.011
W 5 5 5 6 8 10 12 12 16
T 5 5 5 6 7 8 8 8 10
U 3 3 3 3.5 4 5 5 5 6
P
M4 Screw,
Depth 10
M5 Screw, Depth 12
M12 Screw,
Depth 25
M16 Screw,
Depth 32
M20 Screw,
Depth 40
LR
Q
R
1
S Dia.
LR
Q
QK
U
R
1
P
T
W
S

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(Contd)
Selecting Main Circuit Cables (SGMGV-03 / -05)
Servomotor
Rated
Output
Name Length
Order No.
Specifications Details Standard
(Flexible) Type*
Premium
(Flex + Shield) Type
0.3 kW
0.45 kW
For
Servomotor
without
Holding
Brakes
03 m JZSP-CVM21-03-E YEA-CVM21-03(A)-E
(1)
30 m JZSP-CVM21-30-E -
For
Servomotor
with Holding
Brakes
(2)
Servomotor-
end Connector
Kit
JZSP-CVM9-1-E - (3)
Wire Markers
L 50 mm
Wire Markers
L 50 mm
1Cables Connections
SGDV
SERVOPACK
Servomotor
Main Circuit Cable
Encoder Cable
Battery Case
encoder is used.)
SGMGV-03/-05
Servomotor
SGDV
SERVOPACK
(Example)
Relay Encoder Cable
encoder is used.)
Encoder-end Cable
SGMGV-03/-05
Servomotor
Cable
Servomotor
Main Circuit Cable
Crimping Type
CAUTION
Separate the servomotor main circuit cable wiring from the I/O signal cable and encoder cable at least 30
cm, and do not bundle or run them in the same duct.

*: These flexible cables are provided as standard equipment.
Servomotors
SGMGV
Rotary Motors
64
Selecting Main Circuit Cables (SGMGV-03 / -05)
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(1) Wiring Specifcations for Servomotors without Holding Brakes
(2) Wiring Specifcations for Servomotor with Holding Brakes
Wire Color Signal
Green/yellow FG
Blue Phase W
White Phase V
Red Phase U
SERVOPACK-end Leads
Signal Pin No.
FG PE
Phase W 1
Phase V 2
Phase U 3
4
5
Wire Color Signal
Green/yellow FG
Blue Phase W
White Phase V
Red Phase U
Black Brake
Black Brake
SERVOPACK-end Leads
Signal Pin No.
FG PE
Phase W 1
Phase V 2
Phase U 3
Brake 4
Brake 5
Note: No polarity for connection to a holding brake
(3) Servomotor-end Connector Kit Specifications (4) Cable Specifcations
Items For Servomotor without Holding Brakes (4 wires) For Servomotor with Holding Brakes (6 wires)
Order No.* JZSP-CVM29--E JZSP-CVM49--E
Specifications
UL2586
(Max. operating temperature: 105C)
AWG204C
For power line: AWG20
(0.55 mm
2
)
Outer diameter of insulating sheath: 1.77 dia.
UL2586
(Max. operating temperature: 105C)
AWG206C
For power line: AWG20
(0.55 mm
2
)
For holding brake line:
AWG20 (0.55 mm
2
)
Finished Dimensions 7.30.3 dia. 7.40.3 dia.
Internal
Configuration
and Lead
Color
Yaskawa Standard
Specifications
(Standard Length)
Cable length:
5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m
*: Specify the cable length in of order no [ JZSP-CVM29--05-E (5 m) ]
Red
Blue
White
Green/
yellow
Black
Black
Blue Red
White
Green/
yellow
Order No.
JZSP-CVM9-1-E
Applicable
Servomotors
SGMGV-03/-05
Manufacturer
Japan Aviation Electronics
Industry, Ltd.
Plug JNYFX06SJ3
Electrical
Contact
ST-TMH-S-C1B
Applicable
Wire Size
AWG18 to 22
Outer Diameter of
Insulating Sheath
1.3 dia. to
1.8 dia.
Crimp
Tool
Hand tool CT160-3-TMH5B
Applicator 350-TMH5B-2B
Mounting
Screw
M3 Pan head
screw
Applicable Cable
Outer Diameter
6.9 dia. to
8.3 dia.
1
2
3
4
5
PE
39.6 38
1
8
Servomotor
Rated Output
Name Length
Order No.
Standard (Flexible) Type*
0.3 kW
0.45 kW
Cables
For Servomotor
without Holding
Brakes (4 wires)
05 m JZSP-CVM29-05-E
(4)
For Servomotor
with Holding
Brakes (6 wires)
(4)
Standard Type
Wire Color Signal
Green FG
Blue Phase W
White Phase V
Red Phase U
SERVOPACK-end Leads
Signal Pin No.
FG PE
Phase W 1
Phase V 2
Phase U 3
4
5
Wire Color Signal
Green FG
Blue Phase W
White Phase V
Red Phase U
Black Brake
Black Brake
SERVOPACK-end Leads
Signal Pin No.
FG PE
Phase W 1
Phase V 2
Phase U 3
Brake 4
Brake 5
Note: No polarity for connection to a holding brake
Premium Type
Standard Type Premium Type
Shield Wire
Shield Wire
65
SGDV
SERVOPACK
Servomotor
Main Circuit Cable
Encoder Cable
Battery Case
encoder is used.)
SGMGV-09 to -1E
Servomotor
SGDV
SERVOPACK
(Example)
Relay Encoder Cable
encoder is used.)
Encoder-end Cable
SGMGV-09 to -1E
Servomotor
Cable
Selecting Main Circuit Cables (SGMGV-09 to -1E)
1Cables Connections
CAUTION
Separate the servomotor main circuit cable wiring from the I/O signal cable and encoder cable at least 30
cm, and do not bundle or run them in the same duct.

Servomotors
SGMGV
Rotary Motors
66
1Servomotor Main Circuit Cables
Voltage
Servomotor
Rated Output
Name Length
Order No.
Value Type Premium Type
*2
200V
850W,
1.3kW
Servomotor Power Cable
*1
03 m B1EV-03(A)-E B1EP-03(A)-E
(1)
05 m B1EV-05(A)-E B1EP-05(A)-E
10 m B1EV-10(A)-E B1EP-10(A)-E
15 m B1EV-15(A)-E B1EP-15(A)-E
20 m B1EV-20(A)-E B1EP-20(A)-E
2.0kW
03 m B2EV-03(A)-E B2EP-03(A)-E
05 m B2EV-05(A)-E B2EP-05(A)-E
10 m B2EV-10(A)-E B2EP-10(A)-E
15 m B2EV-15(A)-E B2EP-15(A)-E
20 m B2EV-20(A)-E B2EP-20(A)-E
3.0 to
4.4kW
03 m B4EV-03(A)-E B4EP-03(A)-E
05 m B4EV-05(A)-E B4EP-05(A)-E
10 m B4EV-10(A)-E B4EP-10(A)-E
15 m B4EV-15(A)-E B4EP-15(A)-E
20 m B4EV-20(A)-E B4EP-20(A)-E
5.5 to
7.5kW
03 m B6EV-03(A)-E B6EP-03(A)-E
05 m B6EV-05(A)-E B6EP-05(A)-E
10 m B6EV-10(A)-E B6EP-10(A)-E
15 m B6EV-15(A)-E B6EP-15(A)-E
20 m B6EV-20(A)-E B6EP-20(A)-E
11 to
15kW
03 m B7EV-03(A)-E B7EP-03(A)-E
05 m B7EV-05(A)-E B7EP-05(A)-E
10 m B7EV-10(A)-E B7EP-10(A)-E
15 m B7EV-15(A)-E B7EP-15(A)-E
20 m B7EV-20(A)-E B7EP-20(A)-E
400V
850W,
1.3kW,
2.0kW
03 m B1EV-03(A)-E B1EP-03(A)-E
05 m B1EV-05(A)-E B1EP-05(A)-E
10 m B1EV-10(A)-E B1EP-10(A)-E
15 m B1EV-15(A)-E B1EP-15(A)-E
20 m B1EV-20(A)-E B1EP-20(A)-E
3.0 to
4.4kW
03 m B3EV-03(A)-E B3EP-03(A)-E
05 m B3EV-05(A)-E B3EP-05(A)-E
10 m B3EV-10(A)-E B3EP-10(A)-E
15 m B3EV-15(A)-E B3EP-15(A)-E
20 m B3EV-20(A)-E B3EP-20(A)-E
5.5 to
7.5kW
03 m B5EV-03(A)-E B5EP-03(A)-E
05 m B5EV-05(A)-E B5EP-05(A)-E
10 m B5EV-10(A)-E B5EP-10(A)-E
15 m B5EV-15(A)-E B5EP-15(A)-E
20 m B5EV-20(A)-E B5EP-20(A)-E
11 to
15kW
03 m B6EV-03(A)-E B6EP-03(A)-E
05 m B6EV-05(A)-E B6EP-05(A)-E
10 m B6EV-10(A)-E B6EP-10(A)-E
15 m B6EV-15(A)-E B6EP-15(A)-E
20 m B6EV-20(A)-E B6EP-20(A)-E
200V
and
400V
850W to
15kW
Holding Brake Cable
03 m BBEV-03(A)-E -
(2)
05 m BBEV-05(A)-E -
10 m BBEV-10(A)-E -
15 m BBEV-15(A)-E -
20 m BBEV-20(A)-E -
850W to
15kW
03 m - BBEP-03(A)-E
(3)
05 m - BBEP-05(A)-E
10 m - BBEP-10(A)-E
15 m - BBEP-15(A)-E
20 m - BBEP-20(A)-E
*1 Servomotors with holding brakes require a holding brake cable in addition to a power cable.
*2 Premium cables have a braided shield and are intended for use in applications that require CE. B1EP through B5EP have a continuous flex and are
intended for use in movable sections such as robot arms.
L 125 mm
L 125 mm
L 125 mm
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Customers may assemble the servomotors main circuit cables and attach connectors to connect the SERVOPACKs and the
SGMGV servomotors.

The connectors specifed by Yaskawa are required. Note that the connectors vary depending on the operation environment of
servomotors.


Standard connectors

Protective structure IP67 and European Safety Standards compliant connectors

Yaskawa does not specify which cables to use. Use appropriate cables for the connectors.
(1) Wiring Specifcations for Servomotors with and without Holding Brakes*
(3) Wiring Specifcations for the Premium Type
Brake Cable
(2) Wiring Specifications for the Value Type
Brake Cable
*For servomotors with holding brakes, the holding brake cable
must also be wired.
Pin No. Signal
D
C
B
A
Phase U
Phase V
Phase W
FG
Signal Wire Label
Phase U
Phase V
Phase W
FG
U
V
W
G
SERVOPACK-end Leads
Pin No. Signal
1
2
Brake
Brake
Signal Wire Color
Brake
Brake
White
Black
SERVOPACK-end Leads
Pin No. Signal
1
Brake
Signal Wire Color
Brake
Brake
Blue 2 Brake
Shield Green/Yellow
Black
SERVOPACK-end Leads
Shield Wire
1 Customer Cable Assembly
3Value Type
must also be wired.
Pin No. Signal
D
C
B
A
Phase U
Phase V
Phase W
FG
Signal Wire Label
Phase U
Phase V
Phase W
FG
U
V
W
G
SERVOPACK-end Leads
3Premium Type
Servomotors
SGMGV
Rotary Motors
68
Brake Power Supply Connector
1Standard Connectors
3Connector Configuration
(1) Without Holding Brakes
Capacity
kW
Servomotor-end
Connector
(Receptacle)
Cable-end Connector (Not provided by Yaskawa)
Straight Plug L-shaped Plug Cable Clamp
0.85
MS3102A18-10P MS3106B18-10S MS3108B18-10S MS3057-10A 1.3
1.8
2.9
MS3102A22-22P MS3106B22-22S MS3108B22-22S MS3057-12A
4.4
5.5
to
15
Note: Servomotor-end connectors (receptacles) are RoHS-compliant. Contact the respective connector manufacturers for
RoHS-compliant cable-end connectors (not provided by Yaskawa).
For 0.85 to 15 kW
Capacity
kW
Servomotor-end
Connector
(Receptacle)
Straight Plug L-shaped Plug Manufacturer
0.85
to
15
CM10-R2P-D
CM10-SP2S-S-D
Applicable Cable:
4.0 dia. to 6.0 dia.
CM10-AP2S-S-D
Applicable Cable:
DDK Ltd.
CM10-SP2S-M-D
Applicable Cable:
CM10-AP2S-M-D
Applicable Cable:
CM10-SP2S-L-D
Applicable Cable: 9.0
dia. to 11.6 dia.
CM10-AP2S-L-D
Applicable Cable: 9.0
dia. to 11.6 dia.
0.85 to 15 kW
Cable
Clamp
Cable
Straight
Plug
L-shaped Plug
SGMGV
Servomotor
(Receptacle)
JZSP - CVB9 - S M S2 - E
To order a brake power supply connector kit (0.85 to 15 kW)
with the order no. below, contact your Yaskawa representative.
Connector Type
S: Straight plug
A: L-shaped plug
Bush Size
*1
S : Size S (4.0 dia. to 6.0 dia.)
M : Size M (6.0 dia. to 9.0 dia.)
L : Size L (9.0 dia. to 11.6 dia.)
Contact Pin Size
S2: Soldered
C3: Crimping type
*2
*1: A size-M connector kit is available as a standard equipment.
*2: A crimp tool (model: 357J-50448T) by DDK Ltd. is required.
(2) With Holding Brakes
0.85 to 15 kW servomotors require servomotor-end connector and brake power supply connector.
The servomotor-end connector is the same as is used for servomotors without holding brakes.
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Selecting Main Circuit Cables (SGMGV-09 to -1E) Units: mm
3Cable-end Connectors
(1) MS3106B-S :
Straight Plug
Shell
Size
Joint Screw
A
Length of
Joint
Portion
J0.12
Overall
Length
L max.
Outer
Diameter of
Joint Nut
Q
+0
0.38
Cable Clamp
Set Screw
V
Effective
Screw
Length
W min.
Maximum
Width
Y max.
18 1-1/8-18UNEF 18.26 52.37 34.13 1-20UNEF 9.53 42
22 1-3/8-18UNEF 18.26 55.57 40.48 1-3/16-18UNEF 9.53 50
32 2-18UNS 18.26 61.92 56.33 1-3/4-18UNS 11.13 66
(2) MS3108B-S :
L-shaped Plug
Shell
Size
Joint Screw
A
Length of
Joint
Portion
J0.12
Overall
Length
L max.
Outer
Diameter of
Joint Nut
Q
+0
0.38
R
0.5
U
0.5
Cable Clamp
Set Screw
V
Effective
Screw
Length
W min.
18 1-1/8-18UNEF 18.26 68.27 34.13 20.5 30.2 1-20UNEF 9.53
22 1-3/8-18UNEF 18.26 76.98 40.48 24.1 33.3 1-3/16-18UNEF 9.53
32 2-18UNS 18.26 95.25 56.33 32.8 44.4 1-3/4-18UNS 11.13
(3) MS3057-A : Cable Clamp with Rubber Bushing
Cable Clamp
Type
Applicable
Connector
Shell Size
Overall
Length
A0.7
Effective
Screw
Length
C
E
Diameter
G0.7 H
J
Diameter
Set Screw
V
Outer
Diameter
Q0.7
Dia.
Attached
Bushing
MS3057-10A 18 23.8 10.3 15.9 31.7 3.2 14.3 1-20UNEF 30.1 AN3420-10
MS3057-12A 2022 23.8 10.3 19 37.3 4 15.9 1-3/16-18UNEF 35.0 AN3420-12
MS3057-20A 32 27.8 11.9 31.7 51.6 6.3 23.8 1-3/4-18UNS 51.6 AN3420-20
J W
A
V
Y Q
L
U
R
W
J
A
Q
L
V
G
H (Slide Range)
E Dia.
(Inner Diameter
of Cable Clamp)
J Dia. (Inner Diameter of Bushing)
A
V
Q

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1.6
C
3Dimensional Drawings of Brake Power Supply
Straight Plug
Angled Plug
3
2
.
5
2
1

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.
21 Dia.
34
2
1

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.
51.4
2
1

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Straight Plug
Angled Plug
3
2
.
5
2
1

D
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.
21 Dia.
34
2
1

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.
51.4
2
1

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.
Items Specifications
Connector Order No. CM10-P2S--D (Cables are not included.)
Protective Structure IP67
Manufacturer DDK Ltd.
Instructions Angled plug (CM10-AP2S--D): TC-573, Straight plug (CM10-SP2S--D): TC-583
Electrical Contact
Order No.
Electrical contact (100 pcs in one bag)
Crimping type: CM10-#22SC(C3)-100, Wire size: AWG16 to 20,
Outer diameter of sheath: 1.87 to 2.45 dia., Hand tool: 357J-50448T
Soldered type: CM10-#22SC (S2)-100, Wire size: AWG16 max.
Real contact (4000 pcs on one reel)
Crimping type: CM10-#22SC(C3)-4000, Wire size: AWG 16 to 20,
Outer diameter of sheath: 1.87 to 2.45 dia.,
Semi-automatic tool: AP-A50541T (product name for one set),
AP-A50541T-1 (product name for applicator)
Note: The product name of the semi-automatic tool refers to the product name of the press
and applicator (crimper) as a set.
Servomotors
SGMGV
Rotary Motors
70
Plug Conduit
SGMGV Servomotor
(Receptacle)
Waterproof
Cable Clamp Cable
Cable
Waterproof Straight Plug
Waterproof L-shaped Plug
(The same as is used for
servomotors without holding
brakes.)
1Protective Structure IP67 and European Safety Standards Compliant Connector
Note: For the conduit grounding, contact the manufacturer of the conduit being
used.
Capacity
kW
Servomotor-
end Connector
(Receptacle)
Cable-end Connector (Not Provided by Yaskawa)
Applicable Cable
Diameter
(For Reference)
Manufacturer
0.85
1.3
1.8
CE05-2A18-
10PD-D
CE05-6A18-
10SD-D-BSS
CE05-8A18-
10SD-D-BAS
CE3057-10A-1-D 10.5 dia. to 14.1 dia.
DDK Ltd.
CE3057-10A-2-D 8.5 dia. to 11.0 dia.
CE3057-10A-3-D 6.5 dia. to 8.7 dia.
2.9
4.4
CE05-2A22-
22PD-D
CE05-6A22-
22SD-D-BSS
CE05-8A22-
22SD-D-BAS
CE3057-12A-1-D 12.5 dia. to 16.0 dia.
CE3057-12A-2-D 9.5 dia. to 13.0 dia.
CE3057-12A-3-D 6.8 dia. to 10.0 dia.
CE3057-12A-7-D 14.5 dia. to 17.0 dia.
5.5
to
15
CE05-2A32-
17PD-D
CE05-6A32-
17SD-D-BSS
CE05-8A32-
17SD-D-BAS
CE3057-20A-1-D 22 dia. to 23.8 dia.
CE3057-20A-2-D 24 dia. to 26.6 dia.
CE3057-20A-3-D 22 dia. to 22.5 dia.
For 0.85 to 15 kW
(2) With Holding Brakes
0.85 to 15 kW servomotors require servomotor-end connector and brake power supply connector.
The servomotor-end connector is the same as is used for servomotors without holding brakes.
Capacity
kW
Servomotor-end
Connector
(Receptacle)
Cable-end Connector
(Not provided by Yaskawa)
0.85
CM10-R2P-D
CM10-SP2S-S-D
Applicable Cable: 4.0 dia. to 6.0 dia.
CM10-AP2S-S-D
DDK Ltd. to
CM10-SP2S-M-D
CM10-AP2S-M-D
15
CM10-SP2S-L-D
CM10-AP2S-L-D
0.85 to 15 kW
JZSP - CVB9 - S M S2 - E
To order a brake power supply connector kit (0.85 to 15 kW)
Connector Type
S: Straight plug
A: L-shaped plug
Bush Size
*1
S : Size S (4.0 dia. to 6.0 dia.)
M : Size M (6.0 dia. to 9.0 dia.)
L : Size L (9.0 dia. to 11.6 dia.)
Contact Pin Size
S2: Soldered
C3: Crimping type
*2
*1: A size-M connector kit is available as a standard equipment.
*2: A crimp tool (model: 357J-50448T) by DDK Ltd. is required.
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Selecting Encoder Cables
1Encoder Cables (Max. length: 20 m)
Name
Length
(L)
Order No.
Encoder Cable with
Connectors
(For Incremental
Encoder)
3 m JZSP-CVP01-03-E JZSP-CVP11-03-E
(1)
Encoder Cable with
Connectors
(2)
SERVOPACK-end
Connector Kit
JZSP-CMP9-1-E (3)
Encoder-end Connectors for
Straight Plug
-
L-shaped Plug
-
Cables
(4)
Connector (Crimped)
CM10-SP10S--D
(DDK Ltd.)
L
m
o
le
x
Connector (Crimped)
CM10-AP10S--D
(DDK Ltd.)
L
m
o
le
x
Connector
CM10-SP10S--D
(DDK Ltd.)
Battery Case
(Battery Attached)
L
m
o
le
x
Connector
CM10-AP10S--D
(DDK Ltd.)
Battery Case
(Battery Attached)
L
m
o
le
x
m
o
le
x
Soldered
(DDK Ltd.)
Straight plug
(DDK Ltd.)
L-shaped plug
Non-Stock Items
* Use flexible cables for movable sections such as robot arms.
** A crimp tool (357J-52667T) is required
+ Electrical Contact
JZSP-CVP9-1-E
Connector Specifications
Plug: CM10-SP10S-M-D
Electrical Contact: (Crimped)**
CM10-#22SC(C4)-100
Applicable Cable Diameter:
JZSP-CVP9-3-E
Electrical Contact: (Soldered)
CM10-#22SC(S1)-100
6.0 dia. to 9.0 dia
JZSP-CVP9-2-E
Plug: CM10-AP10S-M-D
CM10-#22SC(C4)-100
JZSP-CVP9-4-E
CM10-#22SC(S1)-100
6.0 dia. to 9.0 dia
Servomotors
SGMGV
Rotary Motors
72
(1) Wiring Specifcations for Cable with Connectors (For incremental encoder)
(2) Wiring Specifcations for Cable with Connectors (For absolute encoder, with a battery case)
Pin No. Wire Color
Green
Orange
Black/pink
Red/pink
Black/light blue
Red/light blue 6
1
5
2
9
4
Pin No. Signal
6
5
4
3
2
1
Shell FG 10 FG
SERVOPACK End
/PS
PS
BAT
BAT+
PG 5V
PG 0V
Shield
Wire
Pin No. Signal
2
1
Battery Case
Pin No. Wire Color
Black
Red
Light blue/white
Light blue
Orange/white
Orange 6
1
5
2
9
4
Pin No. Signal
6
5
4
3
2
1
Shell FG 10 FG
SERVOPACK End
Shield
Wire
/PS
PS
BAT
BAT+
BAT
BAT+
PG 5V
PG 0V
Pin No. Wire Color
Green
Orange
Black/pink
Red/pink
Black/light blue
Red/light blue 6
1
5
2
9
4
Pin No. Signal
6
5
4
3
2
1
Shell FG 10 FG
SERVOPACK End
/PS
PS
BAT
BAT+
PG 5V
PG 0V
Pin No. Signal
2
1
Battery Case
Shield
Wire
BAT
BAT+
Specifications
AWG222C+AWG242P
AWG22 (0.33 mm
2
)
AWG24 (0.20 mm
2
)
AWG222C+AWG242P
AWG22 (0.33 mm
2
)
AWG24 (0.20 mm
2
)
Finished Dimensions 6.5 dia. 6.8 dia.
and Lead Color
Yaskawa Standards Specifications
(Standard Length)
Light Blue
Orange
Light Blue/
white
Orange/
white
Red Black Orange Green
Black/
light blue
Black/
pink
Red/
light blue
Red/
pink
(3) SERVOPACK-end Connector Kit Specifcations
Order No. JZSP-CMP9-1-E
Manufacturer Molex Japan Co., Ltd.
Connector Model
(For standard)
55100-0670 (soldered)
External
Dimensions
(Units: mm)

(
1
9
)
(12) (33)
Note: The mating connector model on SERVOPACK: 54280-800
The mating connector model on servomotor: 55102-0600
Pin No. Wire Color
Black
Red
Light blue/white
Light blue
Orange/white
Orange 6
1
5
2
9
4
Pin No. Signal
6
5
4
3
2
1
Shell FG 10 FG
SERVOPACK End
/PS
PS
BAT
BAT+
PG 5V
PG 0V
Shield
Wire
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1Encoder Cables (For extending from 30 to 50 m)
Name Length Order No. Specifications Datails
Encoder-end Cables
(For incremental and
absolute encoder)
0.3 m
JZSP-CVP01-E
(1)
JZSP-CVP02-E

absolute encoder)

encoder is used.)
0.3 m JZSP-CSP12-E* (3)
Cables
(4) 40 m JZSP-CMP19-40-E
CM10-SP10S--D
(DDK Ltd.)
0.3 m
m
o
le
x
CM10-AP10S--D
(DDK Ltd.)
0.3 m
m
o
le
x
Connector (Crimped)
L
m
o
le
x
m
o
le
x
Connector (Crimped)
Battery Case
(Battery attachesl)
0.3 m
m
o
le
x
m
o
le
x
Limited Stock Items
Servomotors
SGMGV
Rotary Motors
74
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Note: The signals BAT(+) and BAT() are used when using an
absolute
encoder.
Pin No. Wire Color
Black
Red
Light blue/white
Light blue
Orange/white
Orange 3
5
4
6
2
1
Pin No. Signal
6
5
4
3
2
1
Shell FG Shell FG
SERVOPACK End
Shield
Wire
/PS
PS
BAT ()
BAT (+)
PG 5V
PG 0V
(For absolute encoder)
Pin No. Signal
2
1
Battery Case
Pin No. Wire Color
Black
Red
Lignt blue/white
Light blue
Orange/white
Orange 3
5
4
6
2
1
Pin No. Signal
6
5
4
3
2
1
Shell FG Shell FG
SERVOPACK End
Shield
Wire
/PS
PS
BAT ()
BAT (+)
BAT ()
BAT (+)
PG 5V
PG 0V
Item Standard Type
Specifications
AWG162C+AWG262P
AWG16 (1.31 mm
2
)
AWG26 (0.13 mm
2
)
Finished Dimensions 6.8 dia.
and Lead Colors
Yaskawa Standard
Specifications
(Standard Length)
Red
Light Blue
/white
Light Blue
Orange
/white
Orange
Black
Pin No. Wire Color
Black
Red
Light blue/white
Light blue
Orange/white
Orange 6
1
5
2
9
4
Pin No. Signal
6
5
4
3
2
1
Shell FG 10 FG
SERVOPACK End
/PS
PS
BAT
BAT+
PG 5V
PG 0V
Shield
Wire
75
Model Designations
SGMSV - 10 A D A 2 1
Code Specifications
10 1.0 kW
15 1.5 kW
20 2.0 kW
25 2.5 kW
30 3.0 kW
40 4.0 kW
50 5.0 kW
70 7.0 kW*
Code Specifications
A Standard
Code Specifications
1 Without options
B
With holding brake
(90 VDC)
C
With holding brake
(24 VDC)
D
(90 VDC)
E
(24 VDC)
S With oil seal
Code Specifications
A 200 VAC
D 400 VAC
Code Specifications
3 20-bit absolute
Code Specifications
Series
Servomotor
SGMSV
SGMSV
*: Available only for 200-VAC models without brake.
Rotary Servomotors
7th
digit
6th
digit
5th
digit
4th
digit
3rd
digit
1st+2nd
digits
6th digit Shaft End
7th digit Options
76
SGMJV

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1Super high power
1Wide selection: 1.0 kW to 7.0 kW capacity, holding
brake option
1Mounted serial encoder: 20 bits, high resolution
1Protective structure: IP67 (Not including the IP22
compliant enclosure for 7.0 kW motor)
1Chip mounters
1Machine tool feeders
Configurations of connectors for the main circuit
SGMSV-10 to -70
The connectors for these models are round. The connectors specified by
Yaskawa are required. Note that the connectors vary depending on the
operation environment of servomotors.
Standard connectors.
Protective structure IP67 and European Safety Standards compliant
connectors
Note: Connectors are not provided by Yaskawa.
77
SGMSV-10A/-15A/-20A/-25A : 300 mm300 mm12 mm (aluminum)
SGMSV-30A/-40A/-50A/-70A : 400 mm400 mm20 mm (aluminum)
Servomotor Model: SGMSV- 10A 15A 20A 25A 30A 40A 50A 70A
Rated Output* kW 1.0 1.5 2.0 2.5 3.0 4.0 5.0 7.0
Rated Torque* Nm 3.18 4.90 6.36 7.96 9.80 12.6 15.8 22.3
Instantaneous Peak Torque* Nm 9.54 14.7 19.1 23.9 29.4 37.8 47.6 54
Rated Current* A
rms
5.7 9.3 12.1 13.8 17.9 25.4 27.6 38.3
rms
17 28 42 44.5 56 77 84 105
Rated Speed* min
-1
3000
Max. Speed* min
-1
6000 5000
rms
0.636 0.590 0.561 0.610 0.582 0.519 0.604 0.604
-4
kgm
2

1.74
(1.99)
2.00
(2.25)
2.47
(2.72)
3.19
(3.44)
7.00
(9.2)
9.60
(11.8)
12.3
(14.5)
12.3
58
(51)
120
(107)
164
(149)
199
(184)
137
(104)
165
(135)
203
(172)
404
2
18300
(16000)
24500
(21800)
25700
(23400)
25000
(23100)
14000
(10700)
13100
(10700)
12800
(10900)
18100
Applicable SERVOPACK SGDV- 7R6A 120A 180A 200A 200A 330A 330A 550A
200-V Class
SGMSV-10D/-15D/-20D/-25D : 300 mm300 mm12 mm (aluminum)
SGMSV-30D/-40D/-50D : 400 mm400 mm20 mm (aluminum)
Servomotor Model: SGMSV- 10D 15D 20D 25D 30D 40D 50D
Rated Output* kW 1.0 1.5 2.0 2.5 3.0 4.0 5.0
Rated Torque* Nm 3.18 4.9 6.36 7.96 9.8 12.6 15.8
Instantaneous Peak Torque* Nm 9.54 14.7 19.1 23.9 29.4 37.8 47.6
Rated Current* A
rms
2.8 4.7 6.1 7.4 8.9 12.5 13.8
rms
8.5 14 20 25 28 38 42
Rated Speed* min
-1
3000
Max. Speed* min
-1
6000 5000
rms
1.27 1.23 1.18 1.15 1.16 1.06 1.21
-4
kgm
2

1.74
(1.99)
2.00
(2.25)
2.47
(2.72)
3.19
(3.44)
7.00
(9.2)
9.60
(11.8)
12.3
(14.5)
58
(51)
120
(107)
164
(149)
199
(184)
137
(104)
165
(135)
203
(172)
2
18300
(16000)
24500
(21800)
25700
(23400)
25000
(23100)
14000
(10700)
13100
(10700)
12800
(10900)
Applicable SERVOPACK SGDV- 3R5D 5R4D 8R4D 120D 120D 170D 170D
400-V Class
Thermal Class: F
Withstand Voltage: 1500 VAC for one minute (200-V class)
1800 VAC for one minute (400-V class)
Note: IP22 for SGMSV-70 servomotors.
Rotation Direction: Counterclockwise (CCW) with forward run reference
when viewed from the load side
78
Servomotors
SGMSV
Rotary Motors
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Servomotor Model
Servomotor
Rated Output
kW
Holding
Torque
Nm
Rated Voltage 24 VDC Rated Voltage 90 VDC
Capacity
W
Rated Current
A (at 20C)
Capacity
W
Rated Current
A (at 20C)
SGMSV-10 1.0 7.84 12 0.5 12 0.13
SGMSV-15 1.5 7.84 12 0.5 12 0.13
SGMSV-20 2.0 7.84 12 0.5 12 0.13
SGMSV-25 2.5 10 12 0.5 12 0.13
SGMSV-30 3.0 20 10 0.41 10 0.11
SGMSV-40 4.0 20 10 0.41 10 0.11
SGMSV-50 5.0 20 10 0.41 10 0.11
2 The holding brake open time and holding brake operation time vary depending on which discharge circuit is used. Make sure holding brake open time and holding
brake operation time are correct for your servomotor.
3 A 24 VDC power supply is to be provided by customers.
SGMSV-10A, -10D SGMSV-15A, -15D SGMSV-20A, -20D SGMSV-25A, -25D
A B
SGMSV-30A, -30D SGMSV-40A, -40D SGMSV-50A, -50D SGMSV-70A
A B A B A B
A B A B A B A B
5000
6000
4000
3000
2000
1000
5000
6000
0
4000
3000
2000
1000
5000
6000
0
4000
3000
2000
1000
5000
6000
0
4000
3000
2000
1000
5000
6000
0
4000
3000
2000
1000
5000
6000
0
4000
3000
2000
1000
5000
6000
0
4000
3000
2000
1000
5000
6000
0
4000
3000
2000
1000
0
2 0 4 6 8 10 0 5 10 15 20 5 0 10 15 20 25 25 0 20 10 5 15 30
10 0 20 30 40 10 0 20 30 40 10 20 30 40 50 0 50 0 40 20 10 30 60
M
o
t
o
r

S
p
e
e
d

(
m
i
n
-
1
)
Torque (Nm)
M
o
t
o
r

S
p
e
e
d

(
m
i
n
-
1
)
Torque (Nm)
M
o
t
o
r

S
p
e
e
d

(
m
i
n
-
1
)
Torque (Nm)
M
o
t
o
r

S
p
e
e
d

(
m
i
n
-
1
)
Torque (Nm)
M
o
t
o
r

S
p
e
e
d

(
m
i
n
-
1
)
Torque (Nm)
M
o
t
o
r

S
p
e
e
d

(
m
i
n
-
1
)
Torque (Nm)
M
o
t
o
r

S
p
e
e
d

(
m
i
n
-
1
)
Torque (Nm)
M
o
t
o
r

S
p
e
e
d

(
m
i
n
-
1
)
Torque (Nm)
Note: 1 When the effective torque during intermittent duty is within the rated torque, the servomotor can be used within the intermittent duty zone.
1Torque-Motor Speed Characteristics(200 V/400 V) A : Continuous Duty Zone B : Intermittent Duty Zone
(Note1)
79
Servomotor Model
Allowable Radial
Load (Fr) N
Allowable Thrust
Load (Fs) N
LR
mm
Reference Diagram
SGMSV-
10A21
686 196 45
15A21
20A21
25A21
30A21 980
392 63
40A21
1176 50A21
70A21
Fr
Fs
LR
Servomotor Model
Servomotor Rated
Output
SGMSV-10 to -70 1.0 to 7.0 kW 5 times
The allowable load moment of inertia (JL) depends on motor capacity, as shown above. This value is provided strictly as a guideline
and results may vary depending on servomotor drive conditions.
Use the AC servo drive capacity selection program SigmaJunmaSize+ to check the operation conditions.
An overvoltage alarm (A.400) is likely to occur during deceleration if the load moment of inertia exceeds the allowable load moment
of inertia. SERVOPACKs with a built-in regenerative resistor may generate a regenerative overload alarm (A.320). Take one of the
following steps if this occurs.
Install an external regenerative resistor if the alarm cannot be cleared using the steps above. Refer to Regenerative Resistors
on page 386.
80
Servomotors
SGMSV
Rotary Motors
R
o
t
a
r
y

S
e
r
v
o
m
o
t
o
r
s
(1) 1.0 to 5.0 kW
Shaft End
17
R
1
Q
L
A

D
1
a
.
L
H

D
1
a
.
LG LE
L
B

D
i
a
.
S

D
i
a
.
KB1
5
0
K
L
1
KB2
S

D
i
a
.
3
0

D
i
a
.
LE
LR
LC
L
36 LM
LL LR
4-1? Dia.
Mounting Holes
A
7
9

D
i
a
.
4
5

D
i
a
.
0.02
0.04 A
O.O4 D1a. A
SGMSV-10 to -25
SGMSV-30 to -50
Manufacturer: J apan Aviation
Electronics Industry, Ltd.
Model
SGMSV-
L LL LM LR KB1 KB2 KL1
Flange Face Dimensions Shaft End Dimensions
Approx. Mass
kg LA LB LC LE LF LG LH LZ S Q
10A21 192 147 111 45 76 135 96 115 95
-0
-0.035
100 3 3 10 130 7 24
-0
-0.013
40 4.1
15A21 202 157 121 45 86 145 96 115 95
-0
-0.035
100 3 3 10 130 7 24
-0
-0.013
40 4.6
20A21 218 173 137 45 102 161 96 115 95
-0
-0.035
100 3 3 10 130 7 24
-0
-0.013
40 5.4
25A21 241 196 160 45 125 184 96 115 95
-0
-0.035
100 3 3 10 130 7 24
-0
-0.013
40 6.8
30A21 259 196 160 63 124 184 114 145 110
-0
-0.035
130 6 6 12 165 9 28
-0
-0.013
55 10.5
40A21 296 233 197 63 161 221 114 145 110
-0
-0.035
130 6 6 12 165 9 28
-0
-0.013
55 13.5
50A21 336 273 237 63 201 261 114 145 110
-0
-0.035
130 6 6 12 165 9 28
-0
-0.013
55 16.5
3
7
10 8
4
1
(20-bit Encoder)
size.)
1 PS 6 BAT (+)
2 /PS 7 -
3 - 8 -
4 PG 5V 9 PG 0V
1 PS 6 -
2 /PS 7 -
3 - 8 -
4 PG 5V 9 PG 0V
Connector
A Phase U
B Phase V
C Phase W
D FG (Frame ground)
A
B C
D
81
Shaft End
3
0

D
i
a
.
R
1
130
144
1
3
0
1
4
4
1
6
5
1
1
4
1
4
5
63
6
2
8

D
ia
.
55
4-9 Dia.
4
5

D
i
a
.
70
Cooling
Air Flow
1
1
0

D
i
a
.
0
0
.0
3
5
2
8

D
i
a
.
0
0
.0
1
3
130
397
334
43
63
6
291
12
201
261
20
5
0
8
0
1
0
8
0.04 A
0.04 Dia. A
0.02
A
(2) 7.0 kW (only for 200 V servomotors)
Manufacturer: Japan Aviation Electronics Industry, Ltd.
Cable Specifications for Fan-end Connector
Receptacle:MS3102A14S-6P
Applicable plug
Plug:MS3108B14S-6S
Cable clamp:MS3057-6A
A Fan motor
B Fan motor
C -
D Alarm terminal
E Alarm terminal
F FG (Frame ground)
A
B
C
D
E
F
Note: Servomotor-end connectors (receptacles) are RoHS-
compliant. Contact the respective connector manufacturers
for RoHS-compliant cable-end connectors.
Notes: 1 Leave a minimum space of 70 mm around the servomotor to allow for a sufficient amount of cooling air.
2 Cooling Fan : single-phase 220 V, 50/60Hz, 17/15 W, 0.11/0.09 A
Approx. Mass: 18.5 kg
3
7
10 8
4
1
(20-bit Encoder)
Plug: CM10-SP10S--D (Straight)
size.)
Use straight plugs to avoid interference with the fan cover.
1 PS 6 BAT (+)
2 /PS 7 -
3 - 8 -
4 PG 5V 9 PG 0V
1 PS 6 -
2 /PS 7 -
3 - 8 -
4 PG 5V 9 PG 0V
Connector
A Phase U
B Phase V
C Phase W
D FG (Frame ground)
A
B C
D
Specications of Cooling Fan
Single-phase 220 V
50/60 Hz
17/15 W
0.11/0.09 A

r o t c e t e d r o r r e n o i t a t o r f o s n o i t a c i c e p S
Contact Capacity:
e g a t l o v e l b a w o l l a . x a M : 350 V (AC, DC)
t n e r r u c e l b a w o l l a . x a M : 120 mA (AC, DC)
r e w o p e l b a l l o r t n o c . x a M : 360 mW
Alarm Contact:
. n o i t a t o r n a f l a m r o n t a N O
t a F F O 1680100 min
-1
or less.
(OFF during 3 seconds at start-up)
4
91
7
Cooling Fan
Connector for Cooling Fan
Connector for
Encoder
Connector for
Motor
82
Servomotors
SGMSV
Rotary Motors
R
o
t
a
r
y

S
e
r
v
o
m
o
t
o
r
s
(1) 1.0 to 5.0 kW
Shaft End
Q
L
A
D
ia
.
L
H
D
ia
.
3
0

D
i
a
.
R
1
S

D
i
a
.
LC
LE
LR
36
L
LL LR
LE LG
LM
L
B

D
i
a
.
S

D
i
a
.
KB3
5
0
K
L
3
KB2
17 11
KB1
K
L
1
4-LZ Dia.
Mounting Holes
A
*: No brake connector
for 200-V models.
4
5

D
i
a
.
7
9

D
i
a
.
0.02
0.04 Dia. A
0.04 A
*: No brake connector for 200-V models (there are brake terminals on the servomotor-end connectors).
Model
SGMSV-
L LL LM LR
KB1
KB2
KB3* KL1 KL3* Flange Face Dimensions Shaft End Dimensions Approx.Mass
200V 400V 400V 200V 400V 400V LA LB LC LE LF LG LH LZ S Q
10A2 233 188 152 45 67 76 176 118 102 96 69 115 95
-0
-0.035
100 3 3 10 130 7 24
-0
-0.013
40 5.5
15A2 243 198 162 45 77 86 186 128 102 96 69 115 95
-0
-0.035
100 3 3 10 130 7 24
-0
-0.013
40 6
20A2 259 214 178 45 93 102 202 144 102 96 69 115 95
-0
-0.035
100 3 3 10 130 7 24
-0
-0.013
40 6.8
25A2 292 247 211 45 116 125 225 177 102 96 69 115 95
-0
-0.035
100 3 3 10 130 7 24
-0
-0.013
40 8.7
30A2 295 232 196 63 114 124 220 176 119 114 81 145 110
-0
-0.035
130 6 6 12 165 9 28
-0
-0.013
55 13
40A2 332 269 233 63 151 161 257 213 119 114 81 145 110
-0
-0.035
130 6 6 12 165 9 28
-0
-0.013
55 16
50A2 372 309 273 63 191 201 297 253 119 114 81 145 110
-0
-0.035
130 6 6 12 165 9 28
-0
-0.013
55 19
A Phase U
B Phase V
C Phase W
D FG(Frame ground)
E Brake terminal
F Brake terminal
G -
SGMSV-10 to -25
SGMSV-30 to -50
A Phase U
B Phase V
C Phase W
D FG (Frame ground)
A
B C
D
400-V Class
D
B
G
C
A F
E
200-V Class
3
7
10 8
4
1
(20-bit Encoder)
cable size.)
1 PS 6 BAT (+)
2 /PS 7 -
3 - 8 -
4 PG 5V 9 PG 0V
1 PS 6 -
2 /PS 7 -
3 - 8 -
4 PG 5V 9 PG 0V
(Boxes () indicate a value that varies, depending on cable size.)
Brake terminal
Brake terminal
83
1Shaft End
SGMSV -
Code Specifications Shaft End
Model SGMSV-
10 15 20 25 30 40 50 70
2
Straight
without
Key
LR 45 63
Q 40 55
S 24
0
-0.013
28
0
-0.013
6
Straight
with Key
and Tap
LR 45 63
Q 40 55
QK 32 50
S 24
0
-0.013
28
0
-0.013
W 8
T 7
U 4
P M8 Screw Depth16
LR
Q
R
1
S Dia.
LR
Q
QK
U
R
1
P
T
W
S

D
i
a
.
Code Specifications Remarks
2 Straight without key Optional/Non-stock
6
Straight with key and tap for one location
(Key slot is JIS B1301-1996 fastening type)
Standard/Stock
SGMSV
Servomotor
SGDV
SERVOPACK
Encoder Cable
Battery Case
encoder is used.)
Servomotor
Main Circuit Cable
Relay Encoder Cable
encoder is used.)
Encoder-end Cable
Cable
SGMSV
Servomotor
SGDV
SERVOPACK
Servomotor
Main Circuit Cable
(Example)
Selecting Cables
1Cables Connections

CAUTION
84
Servomotors
SGMSV
Rotary Motors
R
o
t
a
r
y

S
e
r
v
o
m
o
t
o
r
s
Selecting Cables
Voltage Name
Servomotor
Rated
Output
Length
Order No.
*2
200V
(for Servomotor
without Holding Brake)
1.0kW to
2.5kW
03 m B1EV-03(A)-E B1EP-03(A)-E
L 125 mm
(1)
05 m B1EV-05(A)-E B1EP-05(A)-E
10 m B1EV-10(A)-E B1EP-10(A)-E
15 m B1EV-15(A)-E B1EP-15(A)-E
20 m B1EV-20(A)-E B1EP-20(A)-E
3.0kW
03 m B3EV-03(A)-E B3EP-03(A)-E
05 m B3EV-05(A)-E B3EP-05(A)-E
10 m B3EV-10(A)-E B3EP-10(A)-E
15 m B3EV-15(A)-E B3EP-15(A)-E
20 m B3EV-20(A)-E B3EP-20(A)-E
4.0 to
7.0kW
*4
03 m B4EV-03(A)-E B4EP-03(A)-E
05 m B4EV-05(A)-E B4EP-05(A)-E
10 m B4EV-10(A)-E B4EP-10(A)-E
15 m B4EV-15(A)-E B4EP-15(A)-E
20 m B4EV-20(A)-E B4EP-20(A)-E
(for Servomotor
with Holding Brake)
*3
1.0kW to
2.5kW
03 m BABEV-03(A)-E BABEP-03(A)-E
(5)
3.0kW
03 m BCBEV-03(A)-E BCBEP-03(A)-E
4.0 to
5.0kW
*4
03 m BDBEV-03(A)-E BDBEP-03(A)-E
Fan Cable 7.0kW
03 m BFEV-03(A)-E
- (4)
05 m BFEV-05(A)-E
10 m BFEV-10(A)-E
15 m BFEV-15(A)-E
20 m BFEV-20(A)-E
400V
(for Servomotor
with or without
Holding Brake)
*1
1.0kW to
2.5kW
03 m B1EV-03(A)-E B1EP-03(A)-E
(1)
05 m B1EV-05(A)-E B1EP-05(A)-E
10 m B1EV-10(A)-E B1EP-10(A)-E
15 m B1EV-15(A)-E B1EP-15(A)-E
20 m B1EV-20(A)-E B1EP-20(A)-E
3.0 to
5.0kW
03 m B3EV-03(A)-E B3EP-03(A)-E
05 m B3EV-05(A)-E B3EP-05(A)-E
10 m B3EV-10(A)-E B3EP-10(A)-E
15 m B3EV-15(A)-E B3EP-15(A)-E
20 m B3EV-20(A)-E B3EP-20(A)-E
Holding Brake Cable
1kW to
5kW
03 m BBEV-03(A)-E -
(2)
05 m BBEV-05(A)-E -
10 m BBEV-10(A)-E -
15 m BBEV-15(A)-E -
20 m BBEV-20(A)-E -
03 m - BBEP-03(A)-E
(3)
05 m - BBEP-05(A)-E
10 m - BBEP-10(A)-E
15 m - BBEP-15(A)-E
20 m - BBEP-20(A)-E
*1 400V Servomotors with holding brakes require a holding brake cable in addition to a power cable.
*2 Premium cables have a braided cable shield and are intended for use in applications that require CE. Premium cables have a continuous flex rating and are
intended for use in movable sections such as robot arms.
*3 200V servomotors with holding brakes use a combined power and brake cable
*4 The 7.0kW, 200V servomotor requires a separate fan cable. 7.0kW units are not available with holding brake.
L 125 mm
L 125 mm
L 125 mm
L 125 mm
L 125 mm
85
Selecting Cables
(1) Wiring Specifcations for 200V and 400V Servomotors without Holding Brakes*
(3) Wiring Specifcations for the Premium Type Brake
Cable for 400V Servomotors
(2) Wiring Specifcations for the Value Type Brake
Cable for 400V Servomotors
*400V servomotors with holding brakes require a separate
holding brake cable. See (2) and (3).
Pin No. Signal
D
C
B
A
Phase U
Phase V
Phase W
FG
Signal Wire Label
Phase U
Phase V
Phase W
FG
U
V
W
G
SERVOPACK-end Leads
Pin No. Signal
1
2
Brake
Brake
Signal Wire Color
Brake
Brake
White
Black
SERVOPACK-end Leads
Pin No. Signal
1
Brake
Signal Wire Color
Brake
Brake
Blue 2 Brake
Shield Green/Yellow
Black
SERVOPACK-end Leads
Shield Wire
1Customer Cable Assembly
Customers may assemble the servomotors main circuit cables and attach connectors to connect the SERVOPACKs and the
SGMSV servomotors.
The connectors for these models are round. The connectors specifed by Yaskawa are required. Note that the connectors vary
depending on the operation environment of servomotors.
Standard connectors
Protective structure IP67 and European Safety Standards compliant connectors
Yaskawa does not specify which cables to use. Use appropriate cables for the connectors.
Notes:
No polarity for connection to a fan.
No polarity for connection to an alarm circuit.
(4) Wiring Specifcations for the Fan on 200V 7.0kW
Servomotors
Pin No. Signal
A
D
Alarm Terminal
Fan Motor
Signal Wire Label
Fan
Fan
FAN B Fan Motor
Alarm ALM
E Alarm Terminal Alarm ALM
F FG FG GND
FAN
SERVOPACK-end Leads
* For 200V Premium Cable, shield is connected to FG wire
on the servomotor-end of the cable.
Pin No. Signal
A
C
Phase W
Phase U
Signal Wire Label
Phase V
Phase U
V B Phase V
Phase W W
D FG * FG G
E Brake Brake BK
F Brake Brake BK
U
SERVOPACK-end Leads
3Value Type 3Premium Type
Pin No. Signal
D
C
B
A
Phase U
Phase V
Phase W
FG
Signal Wire Label
Phase U
Phase V
Phase W
FG
U
V
W
G
SERVOPACK-end Leads
*400V servomotors with holding brakes require a separate
holding brake cable. See (2) and (3).
(5) Wiring Specifcations for 200V Servomotors with Holding Brakes
Pin No. Signal
A
C
Phase W
Phase U
Signal Wire Label
Phase V
Phase U
V B Phase V
Phase W W
D FG FG G
E Brake Brake BK
F Brake Brake BK
U
SERVOPACK-end Leads
3Value Type 3Premium Type
86
Servomotors
SGMSV
Rotary Motors
R
o
t
a
r
y

S
e
r
v
o
m
o
t
o
r
s
Selecting Cables
1Standard Connectors
(2) With Holding Brakes (200 V)
No brake connector for 200-V models
(there are brake terminals on the servomotor-end connectors).
Capacity
kW
Servomotor-end
Connector
(Receptacle)
1.0
MS3102A18-10P MS3106B18-10S MS3108B18-10S MS3057-10A to
2.5
3.0
7.0
RoHS-compliant cable-end connectors.
For 1.0 to 7.0 kW
SGMSV
Servomotor
(Receptacle)
Cable
Clamp
Cable
Straight
Plug
L-shaped Plug
Capacity
kW
Servomotor-end
Connector
(Receptacle)
1.0
2.5
3.0
5.0
RoHS-compliant cable-end connectors.
For 1.0 to 5.0 kW
87
Selecting Cables
Capacity
kW
Servomotor-end
Connector
(Receptacle)
1.0
2.5
3.0
5.0
Note: Servomotor-end connectors (receptacles) are RoHS-compliant. Contact the respective connector
manufacturers for RoHS-compliant cable-end connectors.
For 1.0 to 5.0 kW
88
Servomotors
SGMSV
Rotary Motors
R
o
t
a
r
y

S
e
r
v
o
m
o
t
o
r
s
Capacity
kW
Servomotor-end
Connector
(Receptacle)
Cable-end Connector
1.0
to
5.0
CM10-R2P-D
CM10-SP2S-S-D
A pplicable Cable:
CM10-AP2S-S-D
A pplicable Cable:
DDK Ltd.
CM10-SP2S-M-D
A pplicable Cable:
CM10-AP2S-M-D
A pplicable Cable:
CM10-SP2S-L-D
A pplicable Cable:
9.0 dia. to 11.6 dia.
CM10-AP2S-L-D
A pplicable Cable:
9.0 dia. to 11.6 dia.
For 1.0 to 5.0 kW
To order a brake power supply connecter kit
(1.0 to 5.0 kW
)

J Z S P - C V B 9 - S M S2 - E
Connector Type
S: Straight plug
A: L-shaped plug
Bush Size*
1
S: Size S
(4.0 dia. to 6.0 dia.
)
M: Size M
(6.0 dia. to 9.0 dia.
)
L : Size L
(9.0 dia. to 11.6 dia.
)
Contact Pin Size
S2: Soldered
C3: Crimping type*
2
*
1: A size-M connector kit is available as standard equipment.
*
2: A crimp tool (model: 357J-50448T) by DDK Ltd. is required.
89
Selecting Cables Units: mm
3Cable-end Connectors
(1) MS3106B-S :
Straight Plug
Shell
Size
Joint Screw
A
Length of
Joint
Portion
J0.12
Overall
Length
L max.
Outer
Diameter of
Joint Nut
Q
+0
-0.38
Cable Clamp
Set Screw
V
Effective
Screw
Length
W min.
Maximum
Width
Y max.
18 1-1/8-18UNEF 18.26 52.37 34.13 1-20UNEF 9.53 42
20 1-1/4-18UNEF 18.26 55.57 37.28 1-3/16-18UNEF 9.53 47
22 1-3/8-18UNEF 18.26 55.57 40.48 1-3/16-18UNEF 9.53 50
24 1-1/2-18UNEF 18.26 58.72 43.63 1-7/16-18UNEF 9.53 53
(2) MS3108B-S :
L-shaped Plug
Shell
Size
Joint Screw
A
Length of
Joint
Portion
J0.12
Overall
Length
L max.
Outer
Diameter of
Joint Nut
Q
+0
-0.38
R
0.5
U
0.5
Cable Clamp
Set Screw
V
Effective
Screw
Length
W min.
18 1-1/8-18UNEF 18.26 68.27 34.13 20.5 30.2 1-20UNEF 9.53
20 1-1/4-18UNEF 18.26 76.98 37.28 22.5 33.3 1-3/16-18UNEF 9.53
22 1-3/8-18UNEF 18.26 76.98 40.48 24.1 33.3 1-3/16-18UNEF 9.53
24 1-1/2-18UNEF 18.26 86.51 43.63 25.6 36.5 1-7/16-18UNEF 9.53
(3) MS3057-A : Cable Clamp with Rubber Bushing
J W
A
V
Y Q
L
U
R
W
J
A
Q
L
V
Cable Clamp
Type
Applicable
Connector
Shell Size
Overall
Length
A0.7
Effective
Screw
Length
C
E
Diameter
G0.7 H
J
Diameter
Set Screw
V
Outer
Diameter
Q0.7 Dia.
Attached
Bushing
MS3057-10A 18 23.8 10.3 15.9 31.7 3.2 14.3 1-20UNEF 30.1 AN3420-10
MS3057-12A 2022 23.8 10.3 19 37.3 4 15.9 1-3/16-18UNEF 35.0 AN3420-12
MS3057-16A 24 26.2 10.3 23.8 42.9 4.8 19.1 1-7/16-18UNEF 42.1 AN3420-16
G
A
V
Q

D
i
a
.
1.6
C
H (Slide Range)
E Dia.
(Inner Diameter
of Cable Clamp)
J Dia. (Inner Diameter of Bushing)
3Dimensional Drawings of Brake Power Supply
Straight Plug
Angled Plug
3
2
.
5
2
1

D
i
a
.
21 Dia.
(34)
2
1

D
i
a
.
(51.4)
2
1

D
i
a
.
Straight Plug
Angled Plug
3
2
.
5
2
1

D
i
a
.
21 Dia.
(34)
2
1

D
i
a
.
(51.4)
2
1

D
i
a
.
Connector Order No. CM10- P2S- -D (Cables are not included.)
Manufacturer DDK Ltd.
Instructions Angled plug (CM10-AP2S- -D): TC-573, Straight plug (CM10-SP2S- -D): TC-583
Electrical Contact
Order No.
Electrical contact (100 pcs in one bag)
Crimping type: CM10-#22SC(C3)-100, Wire size: AWG16 to 20,
Outer diameter of sheath: 1.87 to 2.45 dia., Hand tool: 357J-50448T
Soldered type: CM10-#22SC (S2)-100, Wire size: AWG16 max.
Real contact (4000 pcs on one reel)
Crimping type: CM10-#22SC(C3)-4000, Wire size: AWG 16 to 20,
Outer diameter of sheath: 1.87 to 2.45 dia.,
Semi-automatic tool: AP-A50541T (product name for one set),
AP-A50541T-1 (product name for applicator)
Note: The product name of the semi-automatic tool refers to the product name of the press and applicator (crimper)
as a set.
90
Servomotors
SGMSV
Rotary Motors
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SGMSV
Servomotor
(Receptacle)
Plug Conduit
Waterproof
Cable Clamp
Cable
Cable
Waterproof Straight Plug
Waterproof L-shaped Plug
Selecting Cables
1Protective Structure IP67 and European Safety Standards Compliant Connector
Note: For the conduit grounding, contact the manufacturer of the conduit being
used.
Capacity
kW
Servomotor-end
Connector
(Receptacle)
Plug Straight Plug L-shaped Plug Cable Clamp
Applicable Cable
Diameter
(For Reference)
Manufacturer
1.0
to
2.5
CE05-2A18-
10PD-D
CE05-
6A18-
10SD-D
CE05-6A18-
10SD-D-BSS
CE05-8A18-
10SD-D-BAS
CE3057-10A-1-D 10.5 dia. to 14.1 dia.
DDK Ltd. CE3057-10A-2-D 8.5 dia. to 11.0 dia.
CE3057-10A-3-D 6.5 dia. to 8.7 dia.
3.0
to
7.0
JL04HV-2E22-
22PE-B-R
JL04V-
6A22-
22SE-R
JL04V-6A22-22SE-EB-R
or
JA06A-22-22S-J1-EB-R*
or
JA08A-22-22S-J1-EB-R*
JL04-2022CK (09) -R 6.5 Dia. to 9.5 Dia. Japan Aviation
Electronics
Industry, Ltd.
JL04-2022CK (12) -R 9.5 Dia. to 13.0 Dia.
JL04-2022CK (14) -R 12.9 Dia. to 15.9 Dia.
For 1.0 to 7.0 kW
No brake connector for 200-V models
(there are brake terminals on the servomotor-end connectors).
For 1.0 to 5.0 kW
Capacity
kW
Servomotor-end
Connector
(Receptacle)
Applicable Cable
Diameter
(For Reference)
Manufacturer
1.0
to
2.5
JL04V-2E20-
15PE-B-R
JL04V-
6A20-
15SE-R
JL04V-6A20-15SE-EB-R JL04V-8A20-15SE-EB-R
JL04-2022CK (09) -R 6.5 Dia. to 9.5 Dia.
Japan Aviation
Electronics
Industry, Ltd.
JL04-2022CK (12) -R 9.5 Dia. to 13.0 Dia.
JL04-2022CK (14) -R 12.9 Dia. to 15.9 Dia.
3.0
to
5.0
JL04V-2E24-
10PE-B-R
JL04-
6A24-
10SE-R
or
JA06A-24-10S-J1-EB-R*
or
JA08A-24-10S-J1-EB-R*
JL04-2428CK (11) -R 9.0 Dia. to 12.0 Dia.
JL04-2428CK (14) -R 12.0 Dia. to 15.0 Dia.
JL04-2428CK (17) -R 15.0 Dia. to 18.0 Dia.
JL04-2428CK (20) -R 18.0 Dia. to 20.0 Dia.
*: Not compliant with European Safety Standards, but compliant with protective structure IP67.
91
Selecting Cables
For 1.0 to 5.0 kW
Capacity
kW
Servomotor-end
Connector
(Receptacle)
Cable-end Connector
1.0
CM10-R2P-D
CM10-SP2S-S-D
A pplicable Cable:
CM10-AP2S-S-D
A pplicable Cable:
DDK Ltd. to
CM10-SP2S-M-D
A pplicable Cable:
CM10-AP2S-M-D
A pplicable Cable:
5.0
CM10-SP2S-L-D
A pplicable Cable:
9.0 dia. to 11.6 dia.
CM10-AP2S-L-D
A pplicable Cable:
9.0 dia. to 11.6 dia.
To order a brake power supply connecter kit
(1.0 to 5.0 kW
)

J Z S P - C V B 9 - S M S2 - E
Connector Type
S: Straight plug
A: L-shaped plug
Bush Size*
1
S: Size S
(4.0 dia. to 6.0 dia.
)
M: Size M
(6.0 dia. to 9.0 dia.
)
L : Size L
(9.0 dia. to 11.6 dia.
)
Contact Pin Size
S2: Soldered
C3: Crimping type*
2
*
1: A size-M connector kit is available as standard equipment.
*
2: A crimp tool (model: 357J-50448T) by DDK Ltd. is required.
Capacity
kW
Servomotor-end
Connector
(Receptacle)
Applicable Cable
Diameter
(For Reference)
Manufacturer
1.0
to
2.5
CE05-2A18-
10PD-D
CE05-
6A18-
10SD-D
CE05-6A18-
10SD-D-BSS
CE05-8A18-
10SD-D-BAS
CE3057-10A-1-D 10.5 dia. to 14.1 dia.
DDK Ltd. CE3057-10A-2-D 8.5 dia. to 11.0 dia.
CE3057-10A-3-D 6.5 dia. to 8.7 dia.
3.0
to
5.0
JL04HV-2E22-
22PE-B-R
JL04V-
6A22-
22SE-R
JL04V-6A22SE-EB-R
or
JA06A-22-22S-J1-EB-R*
or
JA08A-22-22S-J1-EB-R*
JL04-2022CK(09)-R 6.5 Dia. to 9.5 Dia.
Japan Aviation
Electronics
Industry, Ltd.
JL04-2022CK(12)-R 9.5 Dia. to 13.0 Dia.
JL04-2022CK(14)-R 12.9 Dia. to 15.9 Dia.
For 1.0 to 5.0 kW
Non-Stock Items
92
Servomotors
SGMSV
Rotary Motors
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Selecting Cables
1Encoder Cables (Max. length: 20 m)
Name
Length
(L)
Order No.
Encoder Cable with
Connectors
(For Incremental
Encoder)
(1)
Encoder Cable with
Connectors
(2)
SERVOPACK-end
Connector Kit
JZSP-CMP9-1-E (3)
Straight Plug
-
L-shaped Plug
-
Cables
(4)
* Use flexible cables for movable sections such as robot arms.
** A crimp tool (357J-52667T) is required
Connector (Crimped)
CM10-SP10S--D
(DDK Ltd.)
L
m
o
le
x
Connector (Crimped)
CM10-AP10S--D
(DDK Ltd.)
L
m
o
le
x
Connector
CM10-SP10S--D
(DDK Ltd.)
Battery Case
(Battery Attached)
L
m
o
le
x
Connector
CM10-AP10S--D
(DDK Ltd.)
Battery Case
(Battery Attached)
L
m
o
le
x
m
o
le
x
Soldered
(DDK Ltd.)
(DDK Ltd.)
JZSP-CVP9-1-E
CM10-#22SC(C4)-100
JZSP-CVP9-3-E
CM10-#22SC(S1)-100
6.0 dia. to 9.0 dia
JZSP-CVP9-2-E
CM10-#22SC(C4)-100
JZSP-CVP9-4-E
CM10-#22SC(S1)-100
6.0 dia. to 9.0 dia
93
Pin No. Wire Color
Green
Orange
Black/pink
Red/pink
Black/light blue
Red/light blue 6
1
5
2
9
4
Pin No. Signal
6
5
4
3
2
1
Shell FG 10 FG
SERVOPACK End
/PS
PS
BAT
BAT+
PG 5V
PG 0V
Shield
Wire
Pin No. Signal
2
1
Battery Case
Pin No. Wire Color
Black
Red
Light blue/white
Light blue
Orange/white
Orange 6
1
5
2
9
4
Pin No. Signal
6
5
4
3
2
1
Shell FG 10 FG
SERVOPACK End
Shield
Wire
/PS
PS
BAT
BAT+
BAT
BAT+
PG 5V
PG 0V
Pin No. Wire Color
Green
Orange
Black/pink
Red/pink
Black/light blue
Red/light blue 6
1
5
2
9
4
Pin No. Signal
6
5
4
3
2
1
Shell FG 10 FG
SERVOPACK End
/PS
PS
BAT
BAT+
PG 5V
PG 0V
Pin No. Signal
2
1
Battery Case
Shield
Wire
BAT
BAT+
Selecting Cables
Specifications
UL20276 (Max. rating temperature: 80C)
AWG222C+AWG242P
AWG22 (0.33 mm
2
)
AWG24 (0.20 mm
2
)
AWG222C+AWG242P
AWG22 (0.33 mm
2
)
AWG24 (0.20 mm
2
)
Finished Dimensions 6.5 dia. 6.8 dia.
and Lead Color
Yaskawa Standards Specifications
(Standard Length)
Blue
Orange
Blue/
white
Orange/
white
Red Black Orange Green
Black/
light blue
Black/
pink
Red/
light blue
Red/
pink
(3) SERVOPACK-end Connector Kit Specifcations
Order No. JZSP-CMP9-1-E
Manufacturer Molex Japan Co., Ltd.
Connector Model
(For standard)
55100-0670 (soldered)
External
Dimensions
(Units: mm)

(
1
9
)
(12) (33)
Note: The mating connector model on SERVOPACK: 54280-800
The mating connector model on servomotor: 55102-0600
Pin No. Wire Color
Black
Red
Light blue/white
Light blue
Orange/white
Orange 6
1
5
2
9
4
Pin No. Signal
6
5
4
3
2
1
Shell FG 10 FG
SERVOPACK End
/PS
PS
BAT
BAT+
PG 5V
PG 0V
Shield
Wire
Limited Stock Items
94
Servomotors
SGMSV
Rotary Motors
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Selecting Cables
1Encoder Cables (For extending from 30 to 50 m)
Name Length Order No. Specifications Datails
Encoder-end Cables
absolute encoder)
0.3 m
JZSP-CVP01-E
(1)
JZSP-CVP02-E

absolute encoder)

0.3 m JZSP-CSP12-E* (3)
Relay Cables
(4) 40 m JZSP-CMP19-40-E
CM10-SP10S--D
(DDK Ltd.)
0.3 m
m
o
le
x
CM10-AP10S--D
(DDK Ltd.)
0.3 m
m
o
le
x
Connector (Crimped)
L
m
o
le
x
m
o
le
x
Connector (Crimped)
Battery Case
(Battery attachesl)
0.3 m
m
o
le
x
m
o
le
x
Note: The signals BAT(+) and BAT(-) are used when using an absolute
encoder.
Pin No. Wire Color
Black
Red
Light blue/white
Light blue
Orange/white
Orange 3
5
4
6
2
1
Pin No. Signal
6
5
4
3
2
1
Shell FG Shell FG
SERVOPACK End
Shield
Wire
/PS
PS
BAT ()
BAT (+)
PG 5V
PG 0V
Pin No. Signal
2
1
Battery Case
Pin No. Wire Color
Black
Red
Lignt blue/white
Light blue
Orange/white
Orange 3
5
4
6
2
1
Pin No. Signal
6
5
4
3
2
1
Shell FG Shell FG
SERVOPACK End
Shield
Wire
/PS
PS
BAT ()
BAT (+)
BAT ()
BAT (+)
PG 5V
PG 0V
(4) Relay Encoder Cable Specifcations
Item Standard Type
Specifications
AWG162C+AWG262P
AWG16 (1.31 mm
2
)
AWG26 (0.13 mm
2
)
Finished Dimensions 6.8 dia.
and Lead Colors
Yaskawa Standard
Specifications
(Standard Length)
Red
Light Blue
/white
Light Blue
Orange
/white
Orange
Black
Pin No. Wire Color
Black
Red
Light blue/white
Light blue
Orange/white
Orange 6
1
5
2
9
4
Pin No. Signal
6
5
4
3
2
1
Shell FG 10 FG
SERVOPACK End
/PS
PS
BAT
BAT+
PG 5V
PG 0V
Shield
Wire
95
Servomotors can be installed either horizontally or vertically.
The service life of the servomotor will be shortened or unexpected problems will occur if the servomotor is installed incorrectly or
in an inappropriate location. Always observe the following installation instructions.
CAUTION
Do not connect the servomotor directly to a commercial
power line. This will damage the servomotor.
The servomotor cannot operate without the proper
SERVOPACK.

(1) Installation Environment
Items Condition
Ambient Temperature 0 to 40C (no freezing)
Ambient Humidity 20% to 80%RH (no condensation)
Installation Site
Free of corrosive or explosive gases.
Well-ventilated and free of dust and moisture.
Facilitates inspection and cleaning.
Elevation :1,000 m max.
Free of high magnetic field
Storage Environment
Store the servomotor in the following environment if it is stored with the power cable disconnected.
Ambient temperature during storage: -20 to +60C (no freezing)
Ambient humidity during storage: 20% to 80%RH (no condensation)
(2) Enclosure
The servomotor enclosure* is described table as follows.
*: Except through shaft section. The enclosure specification can be satisfied only when using a specified cable.
Through shaft section
Shaft
Flange
This refers to the gap where
the shaft protrudes from
the end of the motor.
3Do not use servomotors in a location that is subject to oil. If the servomotor is used in a location that is subject to water or oil
mist, order a servomotor with an oil seal to seal the through shaft section.
Precautions on Using Servomotor with Oil Seal:
3Put the oil surface under the oil seal lip.
3Use an oil seal in favorably lubricated condition.
3When using a servomotor with its shaft upward direction, be sure that oil will not stay in the oil seal lips.
(3) Orientation
3Servomotors can be installed either horizontally or vertically.
When installing servomotors vertically, make cable traps to
keep out water. When mounting servomotors with the shaft
up, take measures with the connected machine to prevent oil
from getting into the servomotors through gear boxes etc.
Precautions on Servomotor Installation
Rotary Servomotor General Instructions
Model Without Gears With Gears
SGMAVSGMJV IP65 IP55
SGMPS
IP55
IP67 (optional)
IP55
SGMGV IP67
SGMSV IP67 (SGMSV-70 servomotor only: IP22)
Horizontal Vertical
Cable
Trap
96
Servomotors
General Instructions
Rotary Motors
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(4) Alignment
Align the shaft of the servomotor with the shaft of the equipment, and then couple the shafts.
1 Install the servomotor so that alignment accuracy falls within the following range.
Vibration that will damage the bearings and encoders if the shafts are not properly aligned.

Coupling
*
: Alignment Accuracy
Note: Turn together with coupling.
*
*
Measure this distance at
four different positions on
the circumference. The
difference between the
maximum and minimum
measurements must be
0.03 mm or less.
2 Do not allow any direct impact to the shafts when installing the couplings. Do not hit the area near encoders with a
hammer etc., as impacts may damage the encoders.

3 Before installation, thoroughly remove the anticorrosive paint from the end of the motor shaft. Only after removing the
paint can servomotors be installed on the machines.

Anticorrosive
paint is
coated here.
(5) Cable Stress
3Make sure there is no bending or tension on the cables themselves, the connections, or the cable lead inlets.
Be especially careful to wire encoder cables so that they are not subject to stress because the core wires of encoder cables
and main circuit cables are very thin at only 0.2 to 0.3 mm
2.
(6) Connectors
Observe the following precautions:
3When the connectors are connected to the motor, be sure to connect the end of motor main circuit cables before connecting
the encoder cables end.
If the encoder cables end is connected, the encoder may break because of the voltage differences between FG.
3Make sure there is no foreign matters such as dust and metal chips in the connector before connecting.
3Do not apply shock to resin connectors. Otherwise, they may be damaged.
3Make sure of the pin arrangement.
3Be sure not to apply stress on the connector, when using flexible cables. The connector may be damaged by stress.
3When handling a servomotor with its cables connected, hold the servomotor or the connectors and cables will be damaged.
3Fix the cable connector to SGMJV, SGMAV, SGMPS-01/-02/-04 or SGMGV-03/-05 servomotors with screws. Refer to Cable
connections to SGMJV, SGMAV and SGMPS servomotors or Cable connections to SGMGV-03/-05 servomotors.Make
sure that the connector is securely fixed with screws.
3If connectors are not connected properly, the protective structure specifications may not be satisfied.
IMPORTANT
97
Connect the main circuit cable and encoder cable to SGMJV, SGMAV or SGMPS-01/-02/-04 servomotor in the following manner.
CAUTION
Do not directly touch the connector pins provided with the servomotor. Particularly, the
encoder may be damaged by static electricity, etc.
STEP1 Remove the protective tape and cap from the servomotor connector.

Protective Tape
Cap
STEP2 Mount the cable connector on the servomotor and fix it with screws as shown in the figure below.

3First, connect the servomotor to the servomotor main circuit cable end.
3Do not remove the rubber packing. Mount the connector so that the rubber packing is seated
properly.
If the rubber packing is not seated properly, the requirements for the protective structure
specifications may not be met.
Cable Connections to SGMJV, SGMAV and SGMPS Servomotors
IMPORTANT
2-M2 Tapped Holes
2-M2 Tapped Holes
U
V
W
G
For all models
2-M2 pan-head screws
Tightening torque: 0.15 Nm
Encoder Cable
Servomotor Main Circuit Cable
For 550 W or less servomotors
For 750 W or more servomotors
2-M2.5 pan-head screws
Rubber Packing
98
Servomotors
Rotary Motors
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Connect the main circuit cable and encoder cable to SGMGV-03/-05 servomotor in the following manner.
CAUTION
Do not directly touch the connector pins provided with the servomotor. Particularly, the
encoder may be damaged by static electricity, etc.
STEP1 Remove the protective cap from the servomotor connector.

Protective Cap
STEP2 Mount the cable connector on the servomotor and fix it with screws as shown in the figure below.

Servomotor Main Circuit Cable
SGMGV-03/-05
Encoder Cable
All models
U
V
W
G
Lead on Non-load Side
Lead on Load Side
O-ring
m
o
le
x

3First, connect the servomotor to the servomotor main circuit cable end.
3Do not remove the O-ring. Mount the connector so that the O-ring is seated properly.
If the O-ring is not seated properly, the requirements for the protective structure specifications
may not be met.
Cable Connections to SGMGV-03/-05 Servomotors
IMPORTANT
99
1Mechanical Tolerance(T.I.R. : Total lndicator Reading)
The following figure shows tolerances for the servomotors output shaft and installation area. For more details on tolerances,
refer to the external dimensions of the individual servomotor.
A
A
0.02
0.04
A 0.04 Dia.
Perpendicularity between the flange face and output shaft
Run-out at the end of the shaft
Mating concentricity
of the flange O.D.
1Direction of Servomotor Rotation
Positive rotation of the servomotor without a gear is counterclockwise when viewed from the load.
Refer to Ratings and Specifications for each series regarding rotation direction of the servomotor
with a gear. The direction of rotation can be reversed by changing the SERVOPACK parameters.
Counterclockwise
1Shock Resistance
Mount the servomotor with the axis horizontal. The servomotor will withstand the following vertical impacts:
3Impact Acceleration: 490 m/s
2
3Impact occurrences: 2
Vertical
Impact Applied to the Servomotor
1Vibration Resistance
Mount the servomotor with the axis horizontal. The servomotor will withstand the following vibration
acceleration in three directions: Vertical, side to side, and front to back.
Horizontal
Impact Applied to the Servomotor
Vertical
Front to Back
Side to
Side

The amount of vibration the servomotor endures will vary depending on the application. Check the vibration
acceleration being applied to your servomotor for each application.
1Vibration Class
The vibration class for the servomotors at rated motor speed is V15.
(A vibration class of V15 indicates a total vibration amplitude of 15 m maximum on the servomotor during rated rotation.)
Rotor Moment of Inertia
Small-capacity servomotors come in a medium inertia series SGMJV servomotor, SGMPS servomotor and low inertia series SGMAV servomotor. The
rotor moment of inertia of SGMJV servomotor and SGMPS servomotor are twice as large as that of SGMAV. Select servomotors based on the
specifications of your devices, such as load moment of inertia or machine rigidity.
3 When the rotor moment of inertia is large:
Servomotors are capable of corresponding load changes. This has the benefit of reducing settling time and speed ripple. This should also improve
control stability of machines with low rigidity.
3 When mounting the servomotor with low rotor moment of inertia to devices with load moment of inertia:
Acceleration/deceleration torque increases and effective load ratio increases. Check the effective load ratio when you select motor capacity.
Mechanical Specifications
IMPORTANT
Servomotor Model Vibration Acceleration at Flange
SGMJV, SGMAV, SGMPS 49 m/s
2
SGMGV -03 to -44,
SGMSV -10 to -50
49 m/s
2
(Front to back direction: 24.5 m/s
2
)
SGMGV -55 to -1E 24.5 m/s
2
SGMSV -70 14.7 m/s
2
100
Servomotors
Rotary Motors
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The motor rated specifications are continuous allowable values at an ambient temperature of 40C when servomotors are installed with heat sinks.
When the motor is mounted on a small surface, the motor temperature may rise considerably because of the limited heat radiating abilities of the
surface. See the following graph for the relation between heat sink size and derating (derating ratio).
The actual temperature rise depends on how the heat sink (servomotor mounting section) is fixed on the installation
surface, what material is used for the motor mounting section, and motor speed. Always check the actual motor
temperature.

100%
80%
60%
40%
20%
150 250 200 100 50 0
Heat Sink (mm)
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SGMAV-A5/-01
SGMAV-C2
100%
80%
60%
40%
20%
150 250 200 100 50 0
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SGMAV-02/-04/-06
100%
80%
60%
40%
20%
200 300 250 150 100 50
Heat Sink (mm)
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SGMAV-08
SGMAV-10
100%
80%
60%
40%
20%
150 250 200 100 50 0
Heat Sink (mm)
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SGMJV-A5/-01
100%
80%
60%
40%
20%
150 250 200 100 50 0
Heat Sink (mm)
Heat Sink (mm)
Heat Sink (mm)
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Heat Sink (mm)
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SGMJV-02
SGMJV-04
100%
80%
60%
40%
20%
200 300 250 150 100
Heat Sink (mm)
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SGMJV-08
150 250 200 100 50 0 150 250 200 100 50 0 200 300 250 150 100 50
100%
80%
60%
40%
20%
100%
80%
60%
40%
20%
100%
80%
60%
40%
20%
SGMPS-15
SGMPS-08 SGMPS-02
SGMPS-04
SGMPS-01
Holding Brake Delay Time
Holding brakes have motion delay time that varies depending on when the brake is open and when the brake is operating. The
following table shows the brake delay time of each servomotor.
Make sure the holding brake delay time is correct for your servomotor.
3 Example, switching the holding brakes on the DC side
Servomotor Heating Conditions
IMPORTANT
IMPORTANT
Model Voltage
Brake Open Time
ms
Brake Operation Time
ms
Model Voltage
Brake Open Time
ms
Brake Operation Time
ms
SGMAV-A5 to -04
24 V
60 100 SGMGV-03 to -20
24 V,
90 V
100 80
SGMAV-06 to -10 80 100 SGMGV-30,-44 170 100 (24 V), 80 (90 V)
SGMJV-A5 to -04
24 V
60 100 SGMGV-55,-75,-1A 170 80
SGMJV-08 80 100 SGMGV-1E 250 80
SGMPS-01, -08
24 V
20 100 SGMSV-10 to -25 170 80
SGMPS-02, -04, -15 40 100 SGMSV-30 to -50 100 80
101
1Standard Cables
Standard servomotor main circuit cables, encoder cables, and relay cables cannot be used in cases where high flexibility is
needed, as when the cables themselves move or are twisted or turned.
Recommended minimum bend radius of standard cables: R =radius (of cable) x 15. Use flexible cables for flexible applications.
1Flexible Cables
(1) Life of Flexible Cable
The flexible cable supports 10,000,000 or more operations of bending life with the recommended bending radius R =90 mm
under the following test conditions.
3Conditions
1 Repeat moving one end of the cable forward and backward for 320 mm using the test equipment shown in the following
figure.
2 Connect the lead wires in parallel, and count the number of cable return motion times until a lead wire is disconnected.
Note that one reciprocation is counted as one test.

Bending
Radius
R=90 mm
Shifting Distance 320 mm
Fixed End
Shifting End
Notes: 1 The life of flexible cable differs largely depending on the amount of mechanical shocks, mounting to the cable, and fixing methods.
The life of flexible cable is limited under the specified conditions.
2 The life of flexible cable indicates the number of bending times in which lead wires are electrically conducted and by which no cracks and damages that affects the
performance of cable sheathing are caused. Disconnecting the shield wire is not taken into account.
(2) Wiring Precautions
Even if the recommended bending radius R is followed in the mechanical design, incorrect wiring may cause the early
disconnection. Observe the following precautions when wiring.
(a) Cable twisting
Straighten the flexible cables wiring.
Twisted cables cause the early disconnection. Check the indication on the cable surface to make sure that the cable is not
twisted.
(b) Fixing method
Do not fix the moving points of the flexible cable, or stress on the fixed points may cause early disconnection. Fix the cable
at the minimum number of points. Do not put stress on the servomotor-end and SERVOPACK-end connectors.
(c) Cable length
If the cable length is too long, it may result the cable sagging. If the cable length is too short, excessive tension on the fixed
points will cause the early disconnection. Use a flexible cable with the optimum length.
(d) Interference between cables
Avoid interference between cables.
Interference limits the motion of flexible cable, which causes early disconnection. Keep enough distance between cables,
or provide a partition when wiring.
Rotary Cables with Model Numbers Beginning with "JZSP"
102
Servomotors
Rotary Motors
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1Standard Cables
Standard servomotor main circuit cables, encoder cables, and relay cables cannot be used in cases where high flexibility is needed, as
when the cables themselves move or are twisted or turned. Use flexible cables for flexible applications.
For bend radius, refer to the following chart.

Note: All models in the chart refer to the first set of characters of the cables model number.
1Flexible Cables
(1) Life of Flexible Cable
The flexible cable supports several million cycles or more of bending life with the recommended bending radius under the
following test conditions.
3Conditions
1 Repeat moving one end of the cable forward and backward for 500 mm using the test equipment shown in the following figure.
2 Connect the lead wires in parallel, and count the number of cable return motion times until a lead wire is disconnected. Note that
one reciprocation is counted as one cycle.
2 The life of flexible cable indicates the number of bending times in which lead wires are electrically conducted and by which no cracks and damages that affect the
(2) Specific Cable Details
The following chart contains details for each flexible cable with model not beginning with JZSP

Note: All models in the chart refer to the first set of characters of the cables model number..
(3) Wiring Precautions
Even if the recommended bending radius is followed in the mechanical design, incorrect wiring may cause early disconnection.
Observe the following precautions when wiring.
(a) Cable twisting
Straighten the flexible cables wiring.
Twisted cables cause early disconnection. Check the indication on the cable surface to make sure the cable is not twisted.
(b) Fixing method
Do not fix the moving points of the flexible cable, or stress on the fixed points may cause early disconnection. Fix the cable
at the minimum number of points. Do not put stress on the servomotor-end and SERVOPACK-end connectors.
(c) Cable length
If the cable length is too long, it may result in the cable sagging. If the cable length is too short, excessive tension on the
fixed points will cause early disconnection. Use a flexible cable with the optimum length.
(d) Interference between cables
Rotary Cables with Model Numbers NOT Beginning with "JZSP"
Model B1EV B2EV B3EV B4EV B5EV B6EV B7EV B6EP B7EP BABEV BCBEV BDBEV BBEV BFEV
Recommended
Bend Radius (mm)
72 82 119.5 89.5 191.8 226.1 151.2 201.6 87.65 94.6 107.3 35.2 47.24
Outer Diameter (mm) 14.4 16.4 23.9 17.9 27.4 32.3 25.2 33.6 17.53 18.92 21.46 8.8 11.81
Bending
Radius
Fixed End
Shifting End
Model B1EP B2EP B3EP B4EP B5EP BABEP BCBEP BDBEP BBEP
Recommended
Bend Radius (mm)
140 165 224 191 180 177.1 190.3 50
Outer Diameter (mm) 14.0 16.5 22.4 19.1 15.0 16.1 17.3 7.7
Cycles (million) 8-20 9 10
103
Battery Case
1Battery Case (Model: JUSP-BA01-E)
Use this battery case if your battery case needs replacing due to damage etc.. This battery case cannot be used with an
incremental encoder cable.
(1) Mounting a Battery in a Battery Case
Prepare a lithium battery (JZSP-BA01) and mount in a battery case.
1 Red
2 Red
Connector
ER3 V Lithium Battery
(3.6 V, 1000 mAh, manufactured by Toshiba Battery Co., Ltd.)
(2) Connecting a Battery to the Host Controller
Use a battery that meets the specifications of the host controller. Use an ER6VC3N (3.6 V, 2000 mAh,
manufactured by Toshiba Battery Co., Ltd.) or equivalent battery.

1 The battery case (JUSP-BA01-E) is not provided with a battery. A battery must be purchased separately.
2 Install the battery case where the ambient temperature is between 0C to 55C.
Mount a battery (JZSP-BA01).
Battery Case (JUSP-BA01-E)
Absolute encoder cable
SERVOPACK-end
Connector
JZSP-CSP04--E
05--E
06--E
07--E
JUSP-CVP6--E
7--E
Note: Cable and connector to connect encoder
cable and battery case are not included.
IMPORTANT
104
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105
Model Designations
SGMCS - 02 B 3 C 1 1
Direct Drive
Servomotor
SGMCS
Code Specifications
02 2.0 Nm
04 4.0 Nm
05 5.0 Nm
07 7.0 Nm
08 8.0 Nm
10 10 Nm
14 14 Nm
16 16 Nm
17 17 Nm
25 25 Nm
35 35 Nm
Code Specifications
B 135 dia. mm
C 175 dia. mm
D 230 dia. mm
E 290 dia. mm
M 280 dia. mm
N 360 dia. mm
Code Specifications
3
20-bit absolute
(without multiturn data)
(standard)
D
20-bit incremental
(option)
Encoder Specifications
Code Specifications
A Model of servomotor outer diameter code M, N
B Model of servomotor outer diameter code E
C Model of servomotor outer diameter code B, C, D
Code
Flange Specifications
Motor Outer Diameter Code
(3rd digit)
Specifications Mounted Side B C D E M N
1 C-face
Non-load side
load end
3 C-face Non-load side
4 C-face
Non-load side
(with cable on
side)

: Applicable Model Code Specifications
45 45 Nm
80 80 Nm
1A 110 Nm
1E 150 Nm
2Z 200 Nm
SGMCS
Direct Drive Servomotors
7th
digit
6th
digit
5th
digit
4th
digit
3rd
digit
1st+2nd
digits
1st+2nd
digits
Rated Torque
4th digit
6th digit Flange Specifications
Code Specifications
1 Without options
7th digit Option
3th digit Motor Outer Diameter
1Small-capacity
1Medium-capacity
SGMCS

106
Rated Torque / Peak Torque
1Small-capacity 1Medium-capacity
Outer Diameter 280 mm, Inner Diameter 75 mm
SGMCS-45M
SGMCS-80M
SGMCS-1AM
200 400 600 Nm
(Rated Torque 45 / Inst. Peak Torque 135 Nm)
(80/240)
(110/330)
SGMCS-80N
SGMCS-1EN
SGMCS-2ZN
(80/240)
(150/450)
200 400 600 Nm
(200/600)
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SGMCS-02B
SGMCS-05B
SGMCS-07B
20 40 60 80 Nm
Rated Torque 2.0 / Inst. Peak Torque 6.0 Nm
5.0/15.0
7.0/21.0
20 40 60 80 Nm
SGMCS-04C
SGMCS-10C
SGMCS-14C
4.0/12.0
10.0/30.0
14.0/42.0
20 40 60 80 Nm
SGMCS-08D
SGMCS-17D
SGMCS-25D
8.0/24.0
17.0/51.0
25.0/75.0
20 40 60 80 100 Nm
SGMCS-16E
SGMCS-35E
16.0/48.0
35.0/105.0
1Directly coupled to a load without a mechanical
transmission such as a gear.
1Powerful and smooth operation throughout the speed
range from low to high.
(Instantaneous peak torque: 6 to 600 Nm
maximum speed: 250 to 500 min
-1
)
1High-resolution, 20-bit encoder for highly precise
indexing.
1Easy wiring and piping with the hollow structure.
1LCD manufacturing equipment
1Units for inspection and testing
1Electronic parts assembling
machines
1IC handlers
1Inspection units for integrated
circuits
1Automated machines
1Robots
Rated Torque
Inst. Peak Torque
Rated Torque
Inst. Peak Torque
107
Enclosure: Totally enclosed, self-cooled, IP42 (except for gaps on the rotating
section of the shaft)
Rotation Direction: Counterclockwise (CCW) with forward run reference when
viewed from the load side
Mounting: Flange method
Thermal Class: A
Voltage 200 V
Servomotor Model SGMCS- 02BC 05BC 07BC 04CC 10CC 14CC 08DC 17DC 25DC 16EB 35EB
Rated Output
*1
W 42 105 147 84 209 293 168 356 393 335 550
Rated Torque
*1, *2
Nm 2.0 5.0 7.0 4.0 10.0 14.0 8.0 17.0 25.0 16.0 35.0
*1
Nm 6.0 15.0 21.0 12.0 30.0 42.0 24.0 51.0 75.0 48.0 105
Stall Torque
*1
Nm 2.05 5.15 7.32 4.09 10.1 14.2 8.23 17.4 25.4 16.5 35.6
Rated Current
*1
A
rms
1.8 1.7 1.4 2.2 2.2 2.8 1.9 2.5 2.6 3.3 3.5
*1
A
rms
5.4 5.1 4.1 7.0 7.0 8.3 5.6 7.5 8.0 9.4 10.0
Rated Speed
*1
min
-1
200 200 200 150 200 150
Max. Speed
*1
min
-1
500 500 400 300 500 350 250 500 250
rms
1.18 3.17 5.44 2.04 5.05 5.39 5.1 7.8 10.8 5.58 11.1
-4
kgm
2
28 51 77 77 140 220 285 510 750 930 1430
Rated Power Rate
*1
kW/s 1.4 4.9 6.4 2.1 7.1 8.9 2.2 5.7 8.3 2.75 8.57
*1
rad/s
2
710 980 910 520 710 640 280 330 330 170 240
Absolute Accuracy arc-sec 15 15 15 15
Repeatability arc-sec 1.3 1.3 1.3 1.3
Applicable SERVOPACK SGDV- 2R8A 2R8A 2R8A 5R5A
*1: These items and torque-motor speed characteristics quoted in combination with an SGDV SERVOPACK are at an armature winding temperature of 100C. Other values
quoted at 20C.
*2: Rated torques are continuous allowable torque values at 40C with a steel heat sink attached.
Heat sink: SGMCS-B : 350 mm 350 mm 12 mm SGMCS-C : 450 mm 450 mm 12 mm
SGMCS-D : 550 mm 550 mm 12 mm SGMCS-E : 650 mm 650 mm 12 mm
Notes: 1 SGMCS servomotor with holding brake is not available.
2 For the bearings used in SGMCS servomotors, loss varies according to the bearing temperature. At low temperatures, the amount of heat loss will be large.
1Small-capacity Series: Torque-Motor Speed Characteristics A : Continuous Duty Zone B : Intermittent Duty Zone
(Note2)
Torque (Nm)
SGMCS-02B SGMCS-05B SGMCS-07B SGMCS-04C
SGMCS-10C SGMCS-14C SGMCS-08D SGMCS-17D
SGMCS-25D SGMCS-16E SGMCS-35E
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Torque (Nm)
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Torque (Nm)
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Torque (Nm)
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Torque (Nm)
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Torque (Nm)
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Torque (Nm)
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Torque (Nm)
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A
0
0
100
1.5 3.0 4.5 6.0 7.5
200
300
400
500
B A
0
0
100
3 6 9 12 15
200
300
400
500
B A
0
0
100
5 10 15 20 25
200
300
400
500
B A
0
0
100
3 6 9 12 15
200
300
400
500
B
A
0
0
100
6 12 18 24 30
200
300
400
500
B A
0
0
100
10 20 30 40 50
200
300
400
500
B
100
200
300
400
500
A
0
0
100
6 12 18 24 30
200
300
400
500
B A
0
0
12 24 36 48 60
B
100
200
300
400
500
A
0
0
100
9 18 27 36 45
200
300
400
500
B A
0
0
20 40 60 80 100
B A
0
0
100
15 30 45 60 75
200
300
400
500
B
1Small-capacity Series
Notes: 1 The solid, dotted lines of the intermittent duty zone indicate the characteristics when a servomotor runs with the following combinations:
The solid line: With a three-phase 200 V SERVOPACK
3 When the main circuit cable length exceeds 20 m, note that the intermittent duty zone of the Torque-Motor Speed Characteristics will shrink as the line-to-line voltage drops.
SGMCS
Rotary Motors
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1Medium-capacity Series
Voltage 200 V
Servomotor Model SGMCS- 45M 80M 1AM 80N 1EN 2ZN
Rated Output
*1
W 707 1260 1730 1260 2360 3140
Rated Torque
*1, *2
Nm 45 80 110 80 150 200
*1
Nm 135 240 330 240 450 600
Stall Torque
*1
Nm 45 80 110 80 150 200
Rated Current
*1
A
rms
5.80 9.74 13.4 9.35 17.4 18.9
*1
A
rms
17 28 42 28 56 56
Rated Speed
*1
min
-1
150
Max. Speed
*1
min
-1
300 250
rms
8.39 8.91 8.45 9.08 9.05 11.5
-4
kgm
2
388 627 865 1360 2470 3060
Rated Power Rate
*1
kW/s 52.2 102 140 47.1 91.1 131
*1
rad/s
2
1160 1280 1270 588 607 654
Applicable SERVOPACK SGDV- 7R6A 120A 180A 120A 200A 200A
*1: These items and torque-motor speed characteristics quoted in combination with an SGDV SERVOPACK are at an armature winding temperature of 20C.
*2: Rated torques are continuous allowable torque values at 40C with a steel heat sink attached.
Heat sink: 750 mm 750 mm 45 mm
Notes: 1 SGMCS servomotor with holding brake is not available.
2 For the bearings used in SGMCS servomotors, loss varies according to the bearing temperature. At low temperatures, the amount of heat loss will be large.
1Medium-capacity Series: Torque-Motor Speed Characteristics A : Continuous Duty Zone B : Intermittent Duty Zone
(Note1)
A
0 50 100 150
0
100
200
300
B A
0 100 200 300
0
100
200
300
B
SGMCS-45M SGMCS-80M
A
0 100 200 300 400
0
100
200
300
B A
0 100 200 300
0
100
200
300
B
SGMCS-1AM SGMCS-80N
A
0 100 200 300400 500
0
100
200
300
B A
0 200 400 600 800
0
100
200
300
B
SGMCS-1EN SGMCS-2ZN
Torque (Nm)
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Torque (Nm)
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A
0 50 100 150
0
100
200
300
B A
0 100 200 300
0
100
200
300
B
SGMCS-45M SGMCS-80M
A
0 100 200 300 400
0
100
200
300
B A
0 100 200 300
0
100
200
300
B
SGMCS-1AM SGMCS-80N
A
0 100 200 300400 500
0
100
200
300
B A
0 200 400 600 800
0
100
200
300
B
SGMCS-1EN SGMCS-2ZN
Torque (Nm)
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(
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A
0 50 100 150
0
100
200
300
B A
0 100 200 300
0
100
200
300
B
SGMCS-45M SGMCS-80M
A
0 100 200 300 400
0
100
200
300
B A
0 100 200 300
0
100
200
300
B
SGMCS-1AM SGMCS-80N
A
0 100 200 300400 500
0
100
200
300
B A
0 200 400 600 800
0
100
200
300
B
SGMCS-1EN SGMCS-2ZN
Torque (Nm)
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o
r

S
p
e
e
d

(
m
i
n
-
1
)
Torque (Nm)
M
o
t
o
r

S
p
e
e
d

(
m
i
n
-
1
)
Torque (Nm)
M
o
t
o
r

S
p
e
e
d

(
m
i
n
-
1
)
Torque (Nm)
M
o
t
o
r

S
p
e
e
d

(
m
i
n
-
1
)
Torque (Nm)
M
o
t
o
r

S
p
e
e
d

(
m
i
n
-
1
)
Torque (Nm)
M
o
t
o
r

S
p
e
e
d

(
m
i
n
-
1
)
Notes: 1 When the effective torque during intermittent duty is within the rated torque, the servomotor can be used within the intermittent duty zone.
2 When the main circuit cable length exceeds 20 m, note that the intermittent duty zone of the Torque-Motor Speed Characteristics will shrink as the line-to-line voltage drops.
Rotation Direction: Counterclockwise (CCW) with forward run reference when
viewed from the load side
Mounting: Flange method
Thermal Class: F
109
Servomotor Model
Rated Torque
Nm
SGMCS-
02BC, 05BC, 07BC, 04CC 2.0, 5.0, 7.0, 4.0 10 times
10CC 10.0 5 times
14CC, 08DC, 17DC, 25DC, 16EB, 35EB 14.0, 8.0, 17.0, 25.0, 16.0, 35.0 3 times
45MA, 80MA, 1AMA, 80NA, 1ENA, 2ZNA 45, 80, 110, 150, 200 3 times
Use the AC servo drive capacity selection program SigmaJunmaSize+ to check the operation conditions. The program
can be downloaded for free from our web site (http://www.e-mechatronics.com/).
moment of inertia. SERVOPACKs with a built-in regenerative resistor may generate a regenerative overload alarm
(A.320). Take one of the following steps if this occurs.
SGMCS
Rotary Motors
D
i
r
e
c
t

D
r
i
v
e

S
e
r
v
o
m
o
t
o
r
s
110
F
Where F is external force,
Thrust load: Fa=F+Load mass
Moment load: M=FL
F
L
Thrust load: Fa=F+Load mass
Moment load: M=0
F
L
A
Thrust load: Fa=Load mass
Moment load: M=F(L+A)
(See the table below
for the dimension A of
each servomotor model.)
1Allowable Loads
The loads applied while a servomotor is running are roughly classified in the following patterns. Design the machine so that the
thrust load and moment load will not exceed the values in the table.
Servomotor Model
SGMCS-
02B 05B 07B 04C 10C 14C 08D 17D 25D 16E 35E 45M 80M 1AM 80N 1EN 2ZN
Dimension A mm 0 0 0 0 33 37.5
Allowable Thrust Load (Fa) N 1500 3300 4000 11000 9000 16000
Allowable Moment Load (M) Nm 40 50 64 70 75 90 93 103 135 250 320 180 350
Note: SGMCS-02B to -35E servomotors, set dimensions A to 0 (zero).
1Mechanical Tolerance
The following table shows tolerances for the servomotors output shaft and installation area.
See the dimensional drawing of the individual servomotor for more details on tolerances.
Tolerance T.I.R.
(Total Indicator Reading) Units: mm
Servomotor Model SGMCS-
02B 05B 07B 04C 10C 14C 08D 17D 25D 16E 35E
Run-out of the Surface of the Shaft 0.02 0.02 0.02 0.02
Run-out at the End of the Shaft 0.04 0.04 0.04 0.04
Perpendicularity between the Flange Face and Output Shaft 0.07 0.07 0.08 0.08
Coaxiality of Output Axis and Mounting Socket Joint 0.07 0.07 0.08 0.08
B
A
A
B
Drive End
Opposite
Drive End
Dia.
Dia.
Dia.
1Direction of Rotation
Positive rotation of the servomotor
is counterclockwise when viewed
from the load.
1Vibration Resistance
Mount the servomotor with the axis horizontal. The ser-
vomotor will withstand the following vibration accelera-
tion in three directions: Vertical, side to side, and front to
back.
1Impact Resistance
Mount the servomotor with the axis
horizontal. The servomotor will with-
stand the following vertical impacts:
Impact Acceleration: 490 m/s
2
Number of Impacts: 2
1Vibration Class
The vibration class at rated motor speed is V15. (A vibration
class of V15 indicates a total vibration amplitude of 15 m
maximum on the servomotor during rated rotation.)
Vertical
Impact applied
to the servomotor
Vibration applied to
the servomotor
Vertical
Front to back
Side to Side
1Enclosure
(1) Small-capacity Series
Tolerance T.I.R.
(Total Indicator Reading) Units: mm
Servomotor Model SGMCS-
45M 80M 1AM 80N 1EN 2ZN
Run-out of the Surface of the Shaft 0.02 0.02
Run-out at the End of the Shaft 0.04 0.04
Perpendicularity between the Flange Face and Output Shaft
Coaxiality of Output Axis and Mounting Socket Joint 0.08 0.08
Right angle between Flange Face and Output Shaft 0.08 0.08
(2) Medium-capacity Series
Dia.
Dia.
Dia.
Drive End
Opposite
Drive End
B

A
A
A B Dia.
B
Servomotor Type
Vibration Acceleration at
Flange
Small-capacity Series 49 m/s
2
Medium-capacity Series 24.5 m/s
2
Servomotor Type Enclosure
Small-capacity Series IP42 (except for gaps on the rotating section of the shaft)
Medium-capacity Series IP44
111
1
3
4 7
8 10
Servomotor-end Connector Specifications Encoder-end Connector Specifications
Model: JN1AS04MK2
Manufacturer: Japan Aviation
Applicable plug: JN1DS04FK1
(Provided by the customer.)
Model: JN1AS10ML1
Manufacturer: Japan Aviation
Applicable plug: JN1DS10SL1
(Provided by the customer.)
1
3
2
4
1Small-capacity Series
(1) Rated Torque 2.0 to 7.0 Nm (Outer Diameter 135 mm Inner Diameter 20 mm)
2Servomotor Connector for Small-capacity Series Servomotors (Applicable Flange: 1)
Applicable Flange: 1
2
0
+
0
.4
0
-0
.0
3
5
0-0
.0
3
5
0 (0.5: Bolt Section)
0.04
A
B
0.02
A 0.07 Dia.
0.07 B
4 (LL)
L
40.9
1
3
5

D
i
a
.
D
i
a
.
D
i
a
.
1
2
0

D
i
a
.
(9)
*
1
*
2
(1)
1
0
0
6 M4 Tapped Holes, Depth 8
9
0
D
ia
.
N
a
m
e
p
la
te
Nameplate 90
R
26
R
4
0
.5
M
A
X
.
C
o
n
n
e
cto
r A
re
a
90 Dia.
2
5
.4
2
3
.4
(
7
0

D
i
a
.
)
(Divided into six
equal sections of
sixty degrees)
(Divided into six
equal sections of
sixty degrees)
*
1
4
20
*
1
*
2
(LL)
L
(0.5:Bolt Section)
(1)
0.1
(35)
30050
40.9
30
50
6 M4 Tapped Holes,
Depth 8
(
2
2
)
1
0
0.07 B
A 0.07 Dia.
1
3
5

D
i
a
.
B
0.02
1
0
0
A
0.04
Nameplate Nameplate
9
0
D
ia
.
9
0

D
ia
.
2
0
+
0
.4
0
(
7
0

D
i
a
.
)
(
8
0

D
i
a
.
)
-0
.0
3
5
0

D
i
a
.
1
2
0
-0
.0
3
5
0

D
i
a
.

D
i
a
.
(Divided into six
equal sections of
sixty degrees)
(Divided into six
equal sections of
sixty degrees)
*
1
Model
SGMCS-
L (LL)
Approx. Mass
kg
02BC11 59 51 4.8
05BC11 88 80 5.8
07BC11 128 120 8.2
Model
SGMCS-
L (LL)
Approx. Mass
kg
02BC41 59 51 4.8
05BC41 88 80 5.8
07BC41 128 120 8.2
1 Phase U Red
2 Phase V White
3 Phase W Blue
4
FG
(Frame ground)
Green
(yellow)
1 PS Light blue 6
2 /PS Light blue/ white 7 FG (Frame ground) Shield
3 8
4 PG5V Red 9 PG0V Black
5 10
*1 The shaded section shows the rotating section.
*2 The hatched section shows the non-rotating section.
SGMCS
Rotary Motors
D
i
r
e
c
t

D
r
i
v
e

S
e
r
v
o
m
o
t
o
r
s
112
2Servomotor Connector (Applicable Flange: 4)
Model
SGMCS-
L (LL)
Approx. Mass
kg
04CC41 69 59 7.2
10CC41 90 80 10.2
14CC41 130 120 14.2
R
5
1
M
A
X
.
C
o
n
n
e
c
to
r A
re
a
2 M5 Tapped Holes,
Depth 8
(Only for use
by Yaskawa)
130 Dia.
60
5 (LL)
L
50.9
1
7
5

D
i
a
.
1
6
0

D
i
a
.
(9)
*
1
*
2
(1: Bolt Section)
(1)
3
5
+
0
.4
0
1
3
0

D
i
a
.
1
2
0

D
ia
.
2 M5 Tapped Holes,
Depth 8 (Only for use
by Yaskawa)
Nameplate
Nameplate
R
3
6
.5
2
5
.4
2
3
.4
B
0.02
A 0.07 Dia.
0.07
0.04
A
B
(
1
0
0

D
i
a
.
)
0-
0
. 0
4
0
0-
0
. 0
4
0
D
ia
.
(Divided into six
equal sections of
sixty degrees)
(Divided into six
equal sections of
sixty degrees)
*
1
5
20
(LL)
L
0.1
*
1
*
2
(35)
(1)
30
50
(
2
2
)
1
0
6 M5 Tapped Holes,
Depth 8
2M5 Tapped
Holes, Depth 8
Nameplate Nameplate
*
1
0.07 B
A
B
0.02
A
0.04
2 M5 Tapped Holes,
Depth 8 (Only for use
by Yaskawa)
30050
50.9
0.07 Dia.
1
2
0

D
ia
.
1
7
5

D
i
a
.
1
6
0

D
i
a
.
1
3
0

D
i
a
.
(1: Bolt Section) 3
5

D
ia
.
+
0
.4
0
1
3
0
D
ia
.
(
1
0
0

D
i
a
.
)
(
1
0
0

D
i
a
.
)
0- 0
. 0
4
0
0- 0
. 0
4
0
(Divided into six
equal sections of
sixty degrees)
(Divided into six
equal sections of
sixty degrees)
(Only for use
by Yaskawa)
1
2
3
4
4
2
6
3
1
5
Model
Plug : 350779-1
Pin : 350561-3 or 350690-3 (No.1 to 3)
Ground pin : 350654-1or 350669-1 (No.4)
Manufacturer: Tyco Electronics AMP K.K.
Applicable plug
Cap : 350780-1
Socket : 350536-6 or 350550-6
1 Phase U Red
2 Phase V White
3 Phase W Blue
4
FG
(Frame ground)
Green
(yellow)
Servomotor-end Connector Specifcations Encoder-end Connector Specifcations
Model : 55102-0600
Manufacturer : Molex Japan
Co., Ltd
Applicable plug : 54280-0600
1 PG5V Red
2 PG0V Black
3 - -
4 - -
5 PS Light blue
6 /PS
Light blue/
white
Connector
Case
FG
(Frame ground)
Shield
Model
SGMCS-
L (LL)
Approx. Mass
kg
04CC11 69 59 7.2
10CC11 90 80 10.2
14CC11 130 120 14.2
113
(LL)
L
5 50.9
(9)
(1)
*
1
*
1
*
2
2 M6 Tapped
Holes, Depth 10
(Only for use
by Yaskawa)
60
R
6
7
.5
M
A
X
.
C
o
n
n
e
c
to
r A
re
a
(Only for use by Yaskawa)
R
5
3
Nameplate
Nameplate
2
5
.4
2
3
.4
160 Dia.
A 0.08 Dia.
0.08 B B
0.02
2
3
0

D
i
a
.
2
0
0

D
i
a
.
0.04
A
6
0

D
i
a
.
+
0
.
4
0
1
7
0

D
i
a
.
1
6
0

D
i
a
.
(0.5: Bolt Section)
(
1
4
0

D
i
a
.
)
0-
0
. 0
4
6
0-
0
. 0
4
0
(Divided into six equal sections of
sixty degrees)
sixty degrees)
Model
SGMCS-
L (LL)
Approx. Mass
kg
08DC11 74 64 14.0
17DC11 110 100 22.0
25DC11 160 150 29.7
Model
SGMCS-
L (LL)
Approx. Mass
kg
08DC41 74 64 14.0
17DC41 110 100 22.0
25DC41 160 150 29.7
Nameplate
5
20
(LL)
L
(0.5: Bolt Section)
0.1
*
2
*
1
(1)
50.9
30050
(35)
30
50
(
2
2
)
1
0
6 M6 Tapped Holes,
Depth 10
6 M6 Tapped
Holes, Depth 10
Nameplate
1
6
0
D
ia
.
B
0.02
0.08 B
A 0.08 Dia.
2
3
0

D
i
a
.
2
0
0

D
i
a
.
1
7
0

D
i
a
.
6
0
D
i
a
.
+
0
.
4
0
A
0.04
1
6
0

D
ia
.
(
1
4
0

D
i
a
.
)
(
1
4
0

D
i
a
.
)
2 M6 Tapped
Holes, Depth 10
(Only for use
by Yaskawa)
0-
0
. 0
4
0
0-
0
. 0
4
6
(Divided into six
equal sections of
sixty degrees)
sixty degrees)
*
1
SGMCS
Rotary Motors
D
i
r
e
c
t

D
r
i
v
e

S
e
r
v
o
m
o
t
o
r
s
114
30050
(35)
6 (LL)
L
0.1
*
1
*
2
(1)
(4)
Nameplate Nameplate
6 M8 Tapped Holes,
Depth 14
30
50
(
2
2
)
1
0
2 M8 Tapped
Holes, Depth 14
(Only for use
by Yaskawa)
2
0
0
D
ia
.
2
9
0

D
i
a
.
2
6
0

D
i
a
.
2
2
0

D
i
a
.
2
0
0

D
i
a
.
0.08 B
A 0.08 Dia.
B
0.02
A
0.04
sixty degrees)
20
(
2
8
0

D
ia
.
)
1
8
0

D
i
a
.
(
1
6
0

D
i
a
.
)
61.6
2 M8 Tapped
Holes, Depth 14
(Only for use
by Yaskawa)
7
5

D
i
a
.
+
0
.
4
0
0-
0
. 0
5
2
0-
0
. 0
4
6
(Divided into six
equal sections of
sixty degrees)
*
1
60
2 M8 Tapped Holes,
Depth 14
R
8
0
M
A
X
.
C
o
n
n
e
c
to
r
A
r
e
a
N
am
eplate
Nameplate
R
6
5
(LL)
L
6
(9)
*
1
*
1
*
2
(1)
(4)
2 M8 Tapped
Holes, Depth 14
(Only for use
by Yaskawa)
A 0.08 Dia.
0.08 B B
0.02
0.04
A
2
9
0

D
i
a
.
2
6
0

D
i
a
.
7
5

D
i
a
.
+
0
.
4
0
2
2
0

D
i
a
.
2
5
.4 2
3
.4
200 Dia.
2
0
0

D
i
a
.
61.6
(
1
8
0

D
i
a
.
)
( 2
8
0

D
ia
.
)
0-
0
. 0
5
2
0-
0
. 0
4
6
sixty degrees) (Divided into six equal sections of
sixty degrees)
Model
SGMCS-
L (LL)
Approx. Mass
kg
16EB41 88 76 26.0
35EB41 112 100 34.0
Model
SGMCS-
L (LL)
Approx. Mass
kg
16EB11 88 76 26.0
35EB11 112 100 34.0
115
1Medium-capacity Series
(1) Rated Torque 45 to 110 Nm (Outer Diameter 280 mm, Inner Diameter 75 mm)
2Servomotor Connector for Medium-capacity Series Servomotors (Applicable Flange: 1, 3)
Model
SGMCS-
LL KB1 KB2
Approx. Mass
kg
45MA11 141 87.5 122 38
80MA11 191 137.5 172 45
1AMA11 241 187.5 222 51
Model
SGMCS-
L LL KB1 KB2
Approx. Mass
kg
45MA31 150 135 102.5 137 38
80MA31 200 185 152.5 187 45
1AMA31 250 235 202.5 237 51
A Phase U
B Phase V
C Phase W
D
FG
(Frame ground)
1 PS 6
2 /PS 7 FG (Frame ground)
3 8
4 PG5V 9 PG0V
5 10
A
15
1
4
71
8
2
41
0.04
0.04
B
A B
0.08 A B
30
KB2
KB1
*
*
LL
6
5
1.5
2
5
0

D
i
a
.
1
1
5

D
i
a
.
(
Rotating
Section
) 2
8
0
0
.
5

D
ia
.
7
5
.
2

D
i
a
.
15
(
within 75 Dia.
)
+0.019
0
15
(
within 280 Dia.
)
0
-0.052
7
5

D
i
a
.
+
0
. 0
1
9
0
1
1
0

D
i
a
.
0
-
0
. 0
3
5
2
8
0

D
i
a
.
0
-
0
. 0
5
2
1
4
0

D
i
a
.
0.08 Dia.
12 * M6 Screws, Depth 15
(
Divided into equal sections
)
2
6
4
D
ia
.
8
8
D
ia
.
(
)
*
5
*
*
*
1
8
2
15 LL 6
KB2
KB1
L
41
1.5
0.08 C
A B
2
8
0

D
i
a
.
10
1
4
7
C
0.02
A
0.04
B
0.04
(
)
2
6
4
D
ia
.
0.08 Dia.
2
4
8

D
i
a
.
0
-
0
. 0
4
6
1
1
5

D
i
a
.
7
5
.
2

D
i
a
.
15
(
within 75 Dia.
)
+0.019
0
(Rotating
Section)
7
5

D
i
a
.
+
0
. 0
1
9
0
1
1
0

D
i
a
.
0
-
0
. 0
3
5
1
4
0

D
i
a
.
(
)
8
8
D
ia
.
B A
C D
Servmotor-end Connector Specifications
(Same for All Medium-capacity Models)
Encoder-end Connector Specifications
(Same for All Medium-capacity Models)
Model : CE05-2A18-10PD
Manufacturer : DDK Ltd.
Applicable plug and cable clamp
Plug : CE05-6A18-10SD-B-BSS
Cable clamp : CE3057-10A-D265
Model : JN1AS10ML1
Manufacturer : Japan Aviation
Applicable plug : JN1DS10SL1
1 3
4 7
8 10
*: The shaded section shows the rotating section.
SGMCS
Rotary Motors
D
i
r
e
c
t

D
r
i
v
e

S
e
r
v
o
m
o
t
o
r
s
116
(2) Rated Torque 80 to 200 Nm (Outer Diameter 360 mm, Inner Diameter 118 mm)
Model
SGMCS-
L LL KB1 KB2
Approx. Mass
kg
80NA31 160 145 113 147 50
1ENA31 210 195 163 197 68
2ZNA31 260 245 213 247 86
Model
SGMCS-
LL KB1 KB2
Approx. Mass
kg
80NA11 151 98 132 50
1ENA11 201 148 182 68
2ZNA11 251 198 232 86
A
30
15
0.04
0.04
B
A B
0.08 A B
2
2
2
41
1
8
6
KB2
KB1
5
LL
6
*
*
1.5
3
2
5

D
i
a
.
1
6
6

D
i
a
.
1
1
8
.
2

D
ia
.
3
6
0
0
.
5

D
ia
.
(
Rotating
Section
)
Rotating
Section
15(within 118 Dia.)
+0.022
0
15(within 360 Dia.)
0
-0.057
0.08 Dia.
1
1
8

D
i
a
.
+
0
. 0
2
2
0
1
6
0

D
i
a
.
0
-
0
. 0
4
0
3
6
0

D
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0
-
0
. 0
5
7
1
9
0

D
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(Divided into equal sections)
3
4
4
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.
1
3
5

D
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.
*
10
2
2
2
41
1.5
*
*
*
5
LL 15 6
KB2
KB1
L
1
8
6
0.08 C C
0.02
B
0.04
A
0.04
A B
3
6
0

D
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.
3
4
4
D
ia
.
0.08 Dia.
3
2
3

D
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a
.
0
-
0
. 0
5
7
1
6
6

D
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1
1
8
.
2

D
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.
(Rotating Section)
15(within 118 Dia.)
+0.022
0
1
1
8

D
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+
0
. 0
2
2
0
1
6
0

D
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0
-
0
. 0
4
0
1
9
0

D
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.
1
3
5

D
ia
.
117
Selecting Cables
1Cables Connections
Name
Length
(L)
Order No.
Specifcations Details
*1
Small
Capacity
(02B-35E)
Cable with Loose Wire
at SERVOPACK End
3 m JZSP-CMM60-03-E JZSP-CSM60-03-E
(1)
3 m JZSP-CMM00-03-E JZSP-CMM01-03-E
Servomotor-end Connector JN1DS04FK1 (3)
Cables
5 m JZSP-CSM90-05-E JZSP-CSM80-05-E
(4)
*3*
Medium
Capacity
(45M, 80M,
80N, 1AM)
at SERVOPACK End
3 m B1EV-03(A)-E B1EP-03(A)-E
(2)
5 m B1EV-05(A)-E B1EP-05(A)-E
10 m B1EV-10(A)-E B1EP-10(A)-E
15 m B1EV-15(A)-E B1EP-15(A)-E
20 m B1EV-20(A)-E B1EP-20(A)-E
Medium
Capacity
(1EN, 2ZN)
3 m B2EV-03(A)-E B2EP-03(A)-E
5 m B2EV-05(A)-E B2EP-05(A)-E
10 m B2EV-10(A)-E B2EP-10(A)-E
15 m B2EV-15(A)-E B2EP-15(A)-E
20 m B2EV-20(A)-E B2EP-20(A)-E
*2: For applicable flanges, see model designations on page 105.
*3 Premium cables are intended for use in applications that require CE. They have a continuous
flex rating and are intended for use in movable sections such as robot arms.
Soldered
50 mm L

Servomotor End
SERVOPACK End
A
View A
SGDV
SERVOPACK
Servomotor Main
Circuit Cable
Servomotor Main
Circuit Cable
Encoder Cable
Encoder Cable
SGMCS
Servomotor
See page 118 for encoder cable
extension from 30 to 50 m.
(See below.)
Cap : 350780-1(4-pole)
Socket : 350536-6(Chained)
Heat-shrinkable Tube
L
Sheath to Bind
Core Wires
Cable: UL2517 (AWG204C)
50
35
|
6
.
6

D
1
a
.
)
(Exposed core wire)
8.50.5

Servomotor End
SERVOPACK End
Applicable Flange
*2
: 4
Applicable Flange
*2
: 1
L 125 mm
NOTES:
Shaded items are non-stock.
SGMCS servomotors with holding brakes are not available.
SGMCS
Rotary Motors
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118
(1) Small Capacity Series: Wiring Specifications for Cables
(3) Small-capacity Series: Servomotor-end Connector Specifications
(4) Small-capacity Series: Cable Specifications
3Applicable Flange: 1
Pin No. Signal
Signal Wire Color
1
2
3
4
Servomotor End
FG
Phase W
Phase V
Phase U
FG
Phase W
Phase V
Phase U
Green/(yellow)
Blue
White
Red
SERVOPACK End
Pin No. Signal
Signal Wire Color
1
2
3
4
Servomotor End
FG
Phase W
Phase V
Phase U
FG
Phase W
Phase V
Phase U
Green/(yellow)
Blue
White
Red
SERVOPACK End
3Applicable Flange: 4
Order No.* J ZSP-CSM90--E (50 m max.) J ZSP-CSM80--E (50 m max.)
Specifcations
AWG206C
2
)
2
)
Outer diameter of insulating sheath: 1.53 dia.mm
AWG226C
2
)
2
)
Finished Dimensions 70.3 mm
Internal Confguration and
Lead Color
Yaskawa Standard Specifca-
tions (Standard Length)
Cable length : 5 m, 10 m, 15 m, 20 m, 50 m
Black
White
Red
Black
Blue
Green/
(yellow)
*: Specify the cable length of order no.
Example: J ZSP-CSM90-15-E (15 m)
Selecting Cables
(2) Medium Capacity Series: Wiring Specifcations for Cables
Manufacturer Tyco Electronics AMP K.K.
Order No. JZSP-CMM9-3-E
Cap 350780-1
Socket 350550-6
Crimp
Tool
Hand tool 90296-2
Applicator 687763-2
External Dimensions
mm
14.7 27.4
7.6
2
7
.
7
must also be wired.
Pin No. Signal
D
C
B
A
Phase U
Phase V
Phase W
FG
Signal Wire Label
Phase U
Phase V
Phase W
FG
U
V
W
G
SERVOPACK-end Leads
3Value Type
must also be wired.
Pin No. Signal
D
C
B
A
Phase U
Phase V
Phase W
FG
Signal Wire Label
Phase U
Phase V
Phase W
FG
U
V
W
G
SERVOPACK-end Leads
3Premium Type
119
(Medium-capacity Series (SGMCS-M and N): Connector Specifications
Dimensional Drawings: MS3108B L-shaped Plug Shell
Dimensional Drawings: MS3106B Straight Plug Shell
Dimensional Drawings: MS3057-10A Cable Clamp with Rubber Bushing
Non-waterproof
Cable Clamp
Cable
Standard Straight Plug
Standard L-shaped Plug
SGMCS Servomotor
(Receptacle)
Cable-end Connector
L-shaped Plug Straight Plug Cable Clamp
Model
No.
Shell
Size
J oint
Screw
A
Length of
J oint
Portion
0.12
Overall
Length
L Max.
Outer
Diameter
of J oint
Nut
Q
+0
-0.38
R
0.5
U
0.5
Cable
Clamp
Set Screw
V
Effective
Screw
Length
W
Min.
MS
3108B
18
1 1/8-
18UNEF
18.26 68.27 34.13 20.5 30.2 1-20UNEF 9.53
Units: mm
U
R
W
J
A
Q
L
V
Model
No.
Shell
Size
J oint
Screw
A
Length of
J oint
Portion
0.12
Overall
Length
L Max.
Outer
Diameter
of J oint
Nut
Q
+0
-0.38
Cable
Clamp
Set Screw
V
Effective
Screw
Length
W
Min.
Maxi mum
Width
Y Max.
MS
3106B
18
1 1/8-
18UNEF
18.26 52.37 34.13 1-20UNEF 9.53 42
Units: mm
Model
No.
Applicable
Connector
Shell Size
Overall
Length
A0.7
Effective
Screw
Length
C
E G0.7 H J
Set Screw
V
Outer
Diameter
Q0.7
Attached
Bushing
MS3057-10A 18 23.8 10.3 15.9 31.7 3.2 14.3 1-20UNEF 30.1 AN3420-10
Units: mm
G
A
V
Q
1.6
C
H (Slide Range)
E
(Inner Cable
Clamp Diameter)
J (Inner Bushing Diameter)
J W
A
V
Y Q
L
Selecting Cables
SGMCS
Rotary Motors
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120
Selecting Cables
1Encoder Cables and Connectors (Max. length: 20 m)
Name
Length
(L)
Order No.
*1
Cable with Connectors (For
Incremental and Absolute
Encoder)
(1)
(2)
Cable with Loose Wire at
Encoder End (For
Incremental and Absolute
Encoder)
(3)
SERVOPACK-end Connector Kit J ZSP-CMP9-1-E
(4)
Encoder-end Connector
(Straight Plug)
J N1DS10SL1
Encoder-end Connector
(Socket Contact)
J N1-22-22S-PKG100
Cables
(5)
*2: For applicable flanges, see model designations on page 105.
L
SERVOPACK End
Applicable Flange*
2
: 1, 3 Encoder
(Servomotor) End
Straight Plug (Crimped)
(Japan Aviation Electronics
Industry, Ltd.)
Connector (Crimped)
L
Connector
Applicable Flange*
2
: 4
SERVOPACK End
Encoder End
Socket Connector
L
1
2
3
4
5
6
60 mm
Connector (Crimped)
(Molex Japan Co., Ltd.) Wire Markers
Soldered
Crimping Type (A crimp tool is required.)
Applicable Flange: 1, 3
(Standard type)
SERVOPACK End
Signal
PG5V
PG0V
PS
/PS
FG
Pin No.
1
2
5
6
Shell
Wire Color
Red
Black
Light blue
Light blue/white
FG Shield wire
Pin No.
4
9
1
2
7
Shield Wire
Note: Be sure to connect the shield wire of encoder cable to the connector case (shell).
(Standard type)
SERVOPACK End
Signal
PG5V
PG0V
PS
/PS
FG
Pin No.
1
2
5
6
Shell
Wire Color
Red
Black
Light blue
Light blue/white
FG Shield wire
Pin No.
1
2
5
6
7
Shield Wire
Note: Be sure to connect the shield wire of encoder cable to the connector case (shell).
(Flexible type)
SERVOPACK End
Signal
PG5V
PG0V
PS
/PS
FG
Pin No.
1
2
5
6
Shell
Wire Color
Orange
Green
Black/light blue
Red/light blue
FG Shield wire
Pin No.
4
9
1
2
7
Encoder End
Shield Wire
(Flexible type)
SERVOPACK End
Signal
PG5V
PG0V
PS
/PS
FG
Pin No.
1
2
5
6
Shell
Wire Color
Orange
Green
Red/light blue
Black/light blue
FG Shield wire
Pin No.
1
2
5
6
7
Encoder End
Shield Wire
(Molex J apan Co., Ltd.)
(J apan Aviation Electronics Industry, Ltd.)
121
(4) SERVOPACK-end Connector Specifications
(5) Cable Specifications
Specifications
UL20276 (Rated temperature: 80C)
AWG222C+AWG242P
AWG22 (0.33 mm
2
)
AWG24 (0.20 mm
2
)
AWG222C+AWG242P
AWG22 (0.33 mm
2
)
AWG24 (0.20 mm
2
)
and Lead Colors
Yaskawa Standard
Specifications (Standard
Length)
Items SERVOPACK End Encoder End
Order No. J ZSP-CMP9-1-E Tools are not included.
Manufacturer Molex J apan Co., Ltd. J apan Aviation Electronics Industry, Ltd.
Connector
55100-0670 (soldered)
Note: 55100-0670 (soldered) when using a connector kit
Straight plug:
J N1DS10SL1 (crimped)
Socket contact type:
J N1-22-22S-PKG100
Outer diameter of applicable cable : 5.7 dia. to 7.3 dia. mm
Outer diameter of insulating sheath: 0.8 dia. to 1.5 dia. mm
Crimp tool (hand tool) model: CT150-2-J N
External
Dimensions
(Units: mm)
1 3
7
10
4
8
51.5 max.
1
8
.
8

D
i
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.
1 2
3 4
5 6
(10) (36)
(
1
9
)
Red Black
Orange
Blue/
white
Orange/
white
Blue
Orange Green
Black/
light blue
Red/
light blue
Black/
pink
Red/
pink
Selecting Cables
* Specify the cable length in of order no.
Pin No.
6
5
4
3
2
1
Shell
Signal
/PS
PS
BAT(
-)
BAT(
+
)
PG0V
PG5V
FG
Wire Color
Light blue/white
Light blue
Orange/white
Orange
Black
Red
Marker
6
5
4
3
2
1
SERVOPACK End Encoder (Servomotor) End
Notes: 1 The signals BAT (+) and BAT (-) are not needed when using single turn absolute feedback.
2 Be sure to connect the shield wire of encoder cable to the connector case (shell).
Shield Wire
(3) Wiring Specifications for Cable with Loose Wire at Encoder End
(Standard type) (Flexible type)
Pin No.
1
2
3
4
5
6
Shell
Signal
PG5V
PG0V
BAT(+)
BAT(-)
PS
/PS
FG
Wire Color
Orange
Green
Red/pink
Black/pink
Red/light blue
Black/light blue
Marker
1
2
3
4
5
6
SERVOPACK End Encoder (Servomotor) End
Shield Wire
SGMCS
Rotary Motors
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122
Items Standard Type
Specifications
AWG162C+AWG262P
AWG16 (1.31 mm
2
)
Outer diameter of insulating sheath: 2.0 dia.mm
AWG26 (0.13 mm
2
)
Internal Configuration and Lead
Colors
Yaskawa Standard Specifications
(Standard Length)
Red
Orange
Orange/white
Light blue
Light blue/white
Black
* Specify the cable length in of order no.
Selecting Cables
Name Length
Order No.
Standard Type
Encoder-end Cables
0.3 m J ZSP-CSP15-E 1
2 40 m J ZSP-UCMP00-40-E
Cables
3 40 m J ZSP-CMP19-40-E
1Relay Encoder Cables
(
For extending from 30 to 50 m)
(1)
Wiring Specications for Encoder-end Cable
(2)
Wiring Specications for Cable with Connectors
Pin No. Wire Color
Light blue
Red
Light blue/white
Black 9
4
1
2
Pin No. Signal
1
2
5
6
Shell FG 7 FG Shield wire
SERVOPACK End
Shield Wire
/PS
PS
PG 0V
PG 5V
Pin No. Wire Color
Black
Red
Light blue/white
Light blue
Orange/white
Orange 3
5
4
6
2
1
Pin No. Signal
6
5
4
3
2
1
Shell FG Shell FG
SERVOPACK End
Shield Wire
/PS
PS
BAT
BAT+
PG 5V
PG 0V
Plug
(J apan Aviation
Electronics Industry,Ltd.)
Plug Connector (Soldered)
30030
L
Note: e h t o t e l b a c r e d o c n e f o e r i w d l e i h s e h t t c e n n o c o t e r u s e B
connector case (shell).
123
Model Designations
SGLGW
Servomotor Type
Code Specifications
G Coreless
Code Specifications Applicable Model
Blank
Connector by Tyco
Electronics AMP K.K.
All models
D
Connector by
Interconnectron
GmbH
SGLGW
-30A, -40A,
-60A
Connector for Main Circuit Cable
Linear Series
Linear Servomotor
W: Moving Coil
Magnet Height
Voltage
A: 200 VAC
Length of Moving Coil
SGL G W - 30 A 050 C P
P With hall sensor All models
C Forced cooling
SGLGW-40A,
-60A, -90A
H With hall sensor and forced cooling
Blank Without hall sensor All models
Hall Sensor/Cooling Method
Design Revision Order
A, B, C...
2Magnetic Way
SGL G M - 30 108 A
Servomotor Type
Code Specifications
G Coreless
Linear Series
Linear Servomotor
M: Magnetic Way
Magnet Height
Blank (standard) All models
-M High force SGLGM-40, -60
Options
A, B, C*...
*: The coreless linear servomotor has revision CT.
C =without mounting holes on the bottom
CT =with mounting holes on the bottom
Length of Magnetic Way
(Coreless Type)
2Moving Coil
Linear Servomotors
SGLGW
()

124
L
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1Direct-feed mechanism for high-speed and high-
precision positioning.
1Lack of magnetic attraction force helps extend the
life of linear motion guides and minimizes noise.
1Zero cogging for minimal force ripple.
1Feeders and loaders
1LCD manufacturing equipment
2 Precautions on Moving Coil with Hall Sensor
When using a moving coil with a hall sensor, the magnetic way must completely cover the bottom of the hall
sensor. Refer to the example showing the correct installation.
When determining the length of the moving coils stroke or the length of the magnetic way, consider the total
length of the moving coil and the hall sensor unit. Refer to the following table.
<Correct> <Incorrect>
Moving Coil
Model
SGLGW-
Length of
Moving Coil
L1 (mm)
Length of Hall Sensor Unit
A (mm)
Total Length

L (mm)
30A050P 50
0
(Included in the length of
moving coil)
50
30A080P 80 80
40A140P 140
16
156
40A253P 252.5 268.5
40A365P 365 381
60A140P 140
16
156
60A253P 252.5 268.5
60A365P 365 381
90A200P 199 0
(Included in the length of
moving coil)
199
90A370P 367 367
90A535P 535 535
The total length of moving coil with hall sensor
Hall Sensor
Moving Coil
Movement Direction Moving Coil
Magnetic Way
Magnetic Way End
Hall Sensor
L1 A
Moving Coil
Magnetic Way
L
Enclosure: Self-cooled, air-cooling (Only self-cooled type available
for SGLGW-30A linear servomotor)
Allowable Winding Temperature: 130C (Thermal class B)
Notes: 1 The items marked with an * and Force and Speed Characteristics (the table on the next page) are the values at a motor winding temperature of 100C during
operation in combination with a SERVOPACK. The others are at 20C.
2 The above specifications show the values under the cooling condition when a heat sink (aluminium board) listed in the following table is mounted on the moving coil.
Heat Sink Size 200 mm 300 mm 12 mm : SGLGW-30A050C, -30A080C, -40A140C, -60A140C
300 mm 400 mm 12 mm : SGLGW-40A253C, -60A253C
800 mm 900 mm 12 mm : SGLGW-90A200C, -90A370C, -90A535C
Linear Servomotor
Model SGLGW-
30A 40A 60A 90A
050C 080C 140C 253C 365C 140C 253C 365C 200C 370C 535C
Peak Speed* m/s 5 5 5 5 5 4.8 4.8 4.8 4 4 4
Rated Force* N 12.5 25 47 93 140 70 140 210 325 550 750
Rated Current* A
rms
0.51 0.79 0.8 1.6 2.4 1.2 2.2 3.3 4.4 7.5 10.2
Peak Force* N 40 80 140 280 420 220 440 660 1300 2200 3000
Peak Current* A
rms
1.62 2.53 2.4 4.9 7.3 3.5 7.0 10.5 17.6 30.0 40.8
Moving Coil Mass kg 0.10 0.15 0.34 0.60 0.87 0.42 0.76 1.10 2.15 3.6 4.9
Force Constant N/A
rms
26.4 33.9 61.5 61.5 61.5 66.6 66.6 66.6 78.0 78.0 78.0
BEMF Constant V/(m/s) 8.8 11.3 20.5 20.5 20.5 22.2 22.2 22.2 26.0 26.0 26.0
Motor Constant N/QW 3.7 5.6 7.8 11.0 13.5 11.1 15.7 19.2 26.0 36.8 45.0
Electrical Time Constant ms 0.2 0.4 0.4 0.4 0.4 0.5 0.5 0.5 1.4 1.4 1.4
Mechanical Time Constant ms 7.30 4.78 5.59 4.96 4.77 3.41 3.08 2.98 3.18 2.66 2.42
Thermal Resistance
(With heat sink)
K/W 5.19 3.11 1.67 0.87 0.58 1.56 0.77 0.51 0.39 0.26 0.22
Thermal Resistance
(Without heat sink)
K/W 8.13 6.32 3.02 1.80 1.23 2.59 1.48 1.15 1.09 0.63 0.47
Magnetic Attraction N 0 0 0 0 0 0 0 0 0 0 0
Applicable SERVOPACK

SGDV R70A R90A R90A 1R6A 2R8A 1R6A 2R8A 5R5A 120A 180A 200A
1With Standard-force Magnetic Ways
125
1Force and Speed Characteristics A : Continuous Duty Zone B : Intermittent Duty Zone
SGLGW-40A365C
6.0
5.0
4.0
3.0
2.0
1.0
0
0 0 1 0 0 2 0 0 3 0 0 4 0 0 5 0
A
B
SGLGW-40A140C
6.0
5.0
4.0
3.0
2.0
1.0
0
0 150 0 5 0 0 1
A
B
SGLGW-40A253C
6.0
5.0
4.0
3.0
2.0
1.0
0
0 300 200 100
A
B
SGLGW-30A050C
6.0
5.0
4.0
3.0
2.0
1.0
0
0 50 0 1 0 2 0 3 0 4
A B
SGLGW-30A080C
6.0
5.0
4.0
3.0
2.0
1.0
0
0 2 0 4 0 6 0 8 0 0 1 0
A B
SGLGW-60A365C
6.0
5.0
4.0
3.0
2.0
1.0
0
0 5 7 0 0 6 0 5 4 0 5 1 0 0 3 0
A B
SGLGW-60A140C
6.0
5.0
4.0
3.0
2.0
1.0
0
0 5 2 0 5 1 0 0 2 0 5 0 0 1 0
A B
SGLGW-60A253C
6.0
5.0
4.0
3.0
2.0
1.0
0
0 0 5 0 0 4 0 0 3 0 0 1 0 0 2 0
A B
SGLGW-90A200C
6.0
5.0
4.0
3.0
2.0
1.0
0
0 300 600 900 1200 1500
A B
SGLGW-90A370C
6.0
5.0
4.0
3.0
2.0
1.0
0
0 500 10001500 2000 2500
A B A B
SGLGW-90A535C
6.0
5.0
4.0
3.0
2.0
1.0
0
0 700 1400 2100 2800 3500
Force (N) Force (N)
M
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(
m
/
s
)
M
o
t
o
r

S
p
e
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d

(
m
/
s
)
Force (N) Force (N) Force (N)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
Notes:
1. When the effective force during intermittent duty is within the rated force, the servomotor can be used within the intermittent duty zone.
2. The solid, dotted, and dashed-dotted lines of the intermittent duty zone indicate the characteristics when a servomotor runs with the following combinations:
L
i
n
e
a
r

S
e
r
v
o
m
o
t
o
r
s
Linear Servomotors
SGLGW
(Coreless Type)
Linear
126
Notes: 1 The items marked with an * and Force and Speed Characteristics (the table on the next page) are the values at a motor
winding temperature of 100C during operation in combination with a SERVOPACK. The others are at 20C.
2 The above specifications show the values under the cooling condition when a heat sink (aluminium board) listed in the following
table is mounted on the moving coil.
Heat Sink Size 200 mm 300 mm 12 mm : SGLGW-40A140C, -60A140C
Linear Servomotor
Model SGLGW-
40A 60A
140C 253C 365C 140C 253C 365C
Peak Speed* m/s 4.2 4.2 4.2 4.2 4.2 4.2
Rated Force* N 57 114 171 85 170 255
Rated Current* A
rms
0.8 1.6 2.4 1.2 2.2 3.3
Peak Force* N 230 460 690 360 720 1080
Peak Current* A
rms
3.2 6.5 9.7 5.0 10.0 14.9
Moving Coil Mass kg 0.34 0.60 0.87 0.42 0.76 1.10
Force Constant N/A
rms
76.0 76.0 76.0 77.4 77.4 77.4
BEMF Constant V/(m/s) 25.3 25.3 25.3 25.8 25.8 25.8
Motor Constant N/QW 9.6 13.6 16.7 12.9 18.2 22.3
Electrical Time Constant ms 0.4 0.4 0.4 0.5 0.5 0.5
Mechanical Time Constant ms 3.69 3.24 3.12 2.52 2.29 2.21
Thermal Resistance
(With heat sink)
K/W 1.67 0.87 0.58 1.56 0.77 0.51
Thermal Resistance
(Without heat sink)
K/W 3.02 1.80 1.23 2.59 1.48 1.15
Magnetic Attraction N 0 0 0 0 0 0

SGDV 1R6A 2R8A 3R8A 1R6A 3R8A 7R6A
1With High-force Magnetic Ways
127
SGLGW-40A140C
0
1
2
3
4
5
0 5 0 0 1 0 5 1 0 0 2 0 5 2 0
A
B
SGLGW-40A253C
0
1
2
3
4
5
0 0 1 0 0 2 0 0 3 0 0 4 0 0 5 0
A
B
SGLGW-40A365C
0
1
2
3
4
5
0 0 2 0 0 4 0 0 6 0 0 8 0
A
B
SGLGW-60A253C
200 400 600 800
SGLGW-60A140C
5
4
3
2
1
0
0 0 4 0 2 3 0 6 1 0 4 2 0 8 0
A
B
SGLGW-60A365C
5
4
3
2
1
0
0 0 2 1 0 6 9 0 8 4 0 2 7 0 4 2 0
A
B
5
4
3
2
1
0
0
A
B
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
1Mechanical Specifications
(1) Impact Resistance
Impact acceleration: 196 m/s
2
Impact occurrences: twice
(2) Vibration Resistance
The linear servomotors will withstand the following vibration acceleration in three directions: Vertical, side to side, and front to
back.
Vibration acceleration: 49 m/s
2
Notes:
L
i
n
e
a
r

S
e
r
v
o
m
o
t
o
r
s
Linear Servomotors
SGLGW
(Coreless Type)
Linear
128
The moving coil moves in the direction indicated by the arrow
when current flows in the order of phase U, V, and W.
3
1
1
7
4-M4 Mounting Screws, Depth 5
L5 L4
5
0
0
5
0
22
(
5
7
)
(
1
)
24
4
44
8
.
5
2 2-M4
Mounting Screws, Depth 5 on Both Sides
15
5
0
0
5
0
L1
L3
L2
G (Gap) G (Gap)
1
2
Nameplate
2-Screws
#4-40 UNC
Cable
UL20276,
AWG26
Cable
UL2517, AWG25
(5.3 Dia.)
(5 Dia.)
Hall Sensor
Pin Connector:
17JE-23090-02 (D8C)
by DDK Ltd.
The Mating Connector
Socket Connector
: 17JE-13090-02 (D8C)
Stud : 17L-002C or
17L-002C1
Hall Sensor Output Signals
When the moving coil moves in the
direction indicated by the arrow in
the figure, the relationship between
the hall sensor output signals Su,
Sv, Sw and the inverse power of
each mot or phase Vu, Vv, Vw
becomes as shown i n the fi gure
below.
Cap : 350780-1
Socket : 350925-1 or
770673-1
9
6
5
1
Linear Servomotor
Plug : 350779-1
Pin : 350924-1 or
770672-1
by Tyco Electronics AMP K.K.
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
(V)
Electrical Angle ( )
Inverse
Power
(1) SGLGW-30
Pin No. Signal
1 +5V (Power supply)
2 Phase U
3 Phase V
4 Phase W
5 0V (Power supply)
6 Not used
7 Not used
8 Not used
9 Not used
Pin No. Signal Wire Color
1 Phase U Red
2 Phase V White
3 Phase W Blue
4 FG Green
3Moving Coil: SGLGW-30AC (With a connector by Tyco Electronics AMP K.K.)
*: The values indicate the mass of moving coil with a hall sensor unit.
Moving Coil Model
SGLGW-
L1 L2 L3 L4 L5 G (Gap)
Approx. Mass*
kg
30A050C 50 48 30 20 20 0.85 0.14
30A080C 80 72 50 30 25 0.95 0.19
129
3Moving Coil: SGLGW-30ACD (With a connector by Interconnectron GmbH)
Hall Sensor
Linear Servomotor
9 6
1 5
Pin Connector :
17JE-23090-02 (D8C)
by DDK Ltd.
Socket Connector :
17JE-13090-02 (D8C)
Stud : 17L-002C or
17L-002C1
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
The moving coil moves in the direction
indicated by the arrow when current flows
in the order of phase U, V, and W.
3
1
22
(
5
7
)
(
1
)
24
4
44
8
.
5
2-Screws
#4-40 UNC
(5.3 Dia)
(5 Dia)
Cable
UL20276, AWG26
2 2-M4
Mounting Screws, Depth 5 on Both Sides
15
5
0
0
5
0
5
0
0
5
0
L1
L3
L2
G (Gap) G (Gap)
1
2
Cable
UL2517,AWG25
Name
plate
1
7
4-4 Mounting Screws, Depth 5
L5 L4
3
4
2
6
5
1
Extension: SROC06JMSCN169
Pin : 021.423.1020
by Interconnectron GmbH
Plug : SPUC06KFSDN236
Socket: 020.030.1020
Electrical Angle ()
When the moving coil moves in the direc-
tion indicated by the arrow in the figure, the
relationship between the hall sensor output
signals Su, Sv, Sw and the inverse power of
each motor phase Vu, Vv, Vw becomes as
shown in the figure below.
(V)
Inverse
Power
Moving Coil Model
SGLGW-
L1 L2 L3 L4 L5
G
(Gap)
Approx. Mass*
kg
30A050CD 50 48 30 20 20 0.85 0.14
30A080CD 80 72 50 30 25 0.95 0.19
Pin No. Signal
2 Phase U
3 Phase V
4 Phase W
5 0V (Power supply)
6 Not used
7 Not used
8 Not used
9 Not used
1 Phase U Red
2 Phase V White
3 Phase W Blue
4 Not used
5 Not used
6 FG Green
L
i
n
e
a
r

S
e
r
v
o
m
o
t
o
r
s
Linear Servomotors
SGLGW
(Coreless Type)
Linear
130
Pitch 54
27
(27)
4
4
7.6
N-M4 Mounting Screws, Depth6
24
L2
Nameplate Warning Label
4
.
5
36
N-4.5 Dia. Mounting Holes (Per unit)
8 Dia. Counter Boring, Depth 5 on Both Sides.
(18)
L2
L1 (Unit)
-0.1
-0.3
Pitch 45
3Magnetic Way: SGLGM-30A
Magnetic Way Model
SGLGM-
L1 L2 N
Approx. Mass
kg
30108A 108 54 2 0.6
30216A 216 162 4 1.1
30432A 432 378 8 2.3
Note: If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor.
131
Mounting Holes on Both Sides
N1-M4 Tapped Holes, Depth 6
Mounting Holes
Nameplate
The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W.
25.4
7.2 6.5
7
1
5
6
3
3
0
(7 Dia.)
4
(7.5)
1
7
L5 L6
#4-40 UNC
2-Screws
1
1
5
7
8
Gap 0.8 Gap 0.8
4.8
1
4
0
.
5
45
L1
L3
L2
16 L4
45
Electrical Angle ()
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
(V)
(5.3 Dia.)
5
0
0
5
05
0
0
5
0
9 6
1 5
Hall Sensor
Pin Connector :
17JE-23090-02 (D8C)
by DDK Ltd.
Socket Connector :
17JE-13090-02 (D8C)
Stud : 17L-002C or
17L-002C1
Cap : 350780-1
350689-3
Linear Servomotor
Plug : 350779-1
Pin : 350561-3 or
350690-3 (No.1 to 3)
350654-1
350669-1 (No.4)
Inverse
Power
(2) SGLGW-40
Moving Coil Model
SGLGW-
L1 L2 L3 L4 L5 L6 N1 N2
Approx. Mass*
kg
40A140C 140 125 90 30 52.5 45 3 4 0.40
40A253C 252.5 237.5 180 37.5 60 135 5 8 0.66
40A365C 365 350 315 30 52.5 270 8 14 0.93
Pin No. Signal
2 Phase U
3 Phase V
4 Phase W
5 0V (Power supply)
6 Not used
7 Not used
8 Not used
9 Not used
1 Phase U Red
2 Phase V White
3 Phase W Blue
4 FG Green
L
i
n
e
a
r

S
e
r
v
o
m
o
t
o
r
s
Linear Servomotors
SGLGW
(Coreless Type)
Linear
132
Moving Coil Model
SGLGW-
L1 L2 L3 L4 L5 L6 N1 N2
Approx. Mass*
kg
40A140CD 140 125 90 30 52.5 45 3 4 0.40
40A253CD 252.5 237.5 180 37.5 60 135 5 8 0.66
40A365CD 365 350 315 30 52.5 270 8 14 0.93
Mounting Screws,
25.4
7.2 6.5
7
1
5
6
3
3
0
(7 Dia.)
4
(7.5)
1
7
L5 L6
#4-40 UNC
2-Screws
1
1
5
7
8
Gap 0.8 Gap 0.8
4.8
1
4
0
.
5
45
L1
L3
L2
16
L4
45
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
(V)
(5.3 Dia.)
5
0
0
5
0
5
0
0
5
0
9 6
1 5
3
4
2
6
5
1
Hall Sensor
Linear Servomotor
Pin Connector :
17JE-23090-02 (D8C)
by DDK Ltd.
Socket Connector :
17JE-13090-02 (D8C)
Stud : 17L-002C or
17L-002C1
Pin : 021.423.1020
Socket: 020.030.1020
Name plate
Electrical Angle ()
Inverse
Power
Pin No. Signal
2 Phase U
3 Phase V
4 Phase W
5 0V (Power supply)
6 Not used
7 Not used
8 Not used
9 Not used
1 Phase U Red
2 Phase V White
3 Phase W Blue
4 Not used
5 Not used
6 FG Green
133
7
Pitch 45
L2 22.5
L2 22.5
Pitch 45
N-M5 Mounting Screws, Depth 13 (Per unit)
-0.1
-0.3
L1 (1 Unit)
X
X
(22.5)
(22.5)
5.4
90.2
6
2
1
0

D
i
a
.
5
.
5

D
i
a
.
7.40.2
25.4
X-X
4-C1
90.2
12.7
6
2
1
0

D
i
a
.
5
.
5

D
i
a
.
5.4
(
1
3
)
7.40.2
25.4
4-C1
X-X
X
X
SGLGM-
40C
SGLGM-
40CT
(Only for SGLGM- CT)
Nameplate
Warning Label
L2 22.5
22.5 (22.5)
(22.5)
L2
Pitch 45
Pitch 45
7
L1 (1 Unit)
-0.1
-0.3
6
2
6
2
12.2 7.40.2
4-C1 0.2
31.8
15.9
12.2
0.2
31.8
7.40.2
4-C1
SGLGM-
40C-M
SGLGM-
40CT-M
X
X
X
X
5.4
5
.
5

D
i
a
.
1
0

D
i
a
.
5
.
5

D
i
a
.
1
0

D
i
a
.
(
1
3
)
5.4
X-X X-X
(Only for SGLGM- CT-M)
3Magnetic Way : SGLGM-40C (Without mounting holes on the bottom)
SGLGM-40CT (With mounting holes on the bottom)
3High-force Magnetic Way : SGLGM-40C-M (Without mounting holes on the bottom)
SGLGM-40CT-M (With mounting holes on the bottom)
Type
Standard-force Magnetic Way
Model SGLGM-
L1 L2 N Approx. Mass kg
Standard
Force
40090C or 40090CT 90 45 2 0.8
40225C or 40225CT 225 180 5 2.0
40360C or 40360CT 360 315 8 3.1
40405C or 40405CT 405 360 9 3.5
40450C or 40450CT 450 405 10 3.9
Type
High-force Magnetic Way
Model SGLGM-
High
Force
40090C-M or 40090CT-M 90 45 2 1.0
40225C-M or 40225CT-M 225 180 5 2.6
40360C-M or 40360CT-M 360 315 8 4.1
40405C-M or 40405CT-M 405 360 9 4.6
40450C-M or 40450CT-M 450 405 10 5.1
L
i
n
e
a
r

S
e
r
v
o
m
o
t
o
r
s
Linear Servomotors
SGLGW
(Coreless Type)
Linear
134
Note: If you have a pacemaker or any other
electronic medical device, do not go
near the magnetic way of the linear
servomotor.
servomotor.
2-Screws
4-40 UNC
Mounting Holes
7
1
5
25.4
8
3
7.2 6.5
L6
45
L5
3
0
(7 Dia.)
5
0
0
5
0
16 L4
45
L1
L3
(7.5)
L2
(5.3 Dia.)
5
0
0
5
0
4.8
1
1
5
0
.
5
1
4
Gap 0.8 Gap 0.8
9
8
4
1
7
Electrical Angle
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
When t he movi ng coi l moves i n t he
direction indicated by the arrow in the
figure, the relationship between the hall
sensor output signals Su, Sv, Sw and the
inverse power of each motor phase Vu, Vv,
Vw becomes as shown in the figure below.
(V)
Nameplate
9 6
1 5
Hall Sensor
Pin Connector :
17JE-23090-02 (D8C)
by DDK Ltd.
Socket Connector :
17JE-13090-02 (D8C)
Stud : 17L-002C or
17L-002C1
Cap : 350780-1
350689-3
Linear Servomotor
Plug : 350779-1
Pin : 350561-3 or
350690-3 (No.1 to 3)
350654-1
350669-1 (No.4)
Inverse
Power
(3) SGLGW-60
Moving Coil Model
SGLGW-
L1 L2 L3 L4 L5 L6 N1 N2
Approx. Mass*
kg
60A140C 140 125 90 30 52.5 45 3 4 0.48
60A253C 252.5 237.5 180 37.5 60 135 5 8 0.82
60A365C 365 350 315 30 52.5 270 8 14 1.16
Pin No. Signal
2 Phase U
3 Phase V
4 Phase W
5 0V (Power supply)
6 Not used
7 Not used
8 Not used
9 Not used
1 Phase U Red
2 Phase V White
3 Phase W Blue
4 FG Green
135
Moving Coil Model
SGLGW-
L1 L2 L3 L4 L5 L6 N1 N2
Approx. Mass*
kg
60A140CD 140 125 90 30 52.5 45 3 4 0.48
60A253CD 252.5 237.5 180 37.5 60 135 5 8 0.82
60A365CD 365 350 315 30 52.5 270 8 14 1.16
2-Screws
4-40 UNC
7
1
5
25.4
8
3
7.2 6.5
L6
45
L5
3
0
(7 Dia.)
5
0
0
5
0
16
L4
45
L1
L3
(7.5)
L2
(5.3 Dia.)
5
0
0
5
0
4.8
1
1
5
0
.
5
1
4
Gap 0.8 Gap 0.8
9
8
4
1
7
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
9 6
1 5
3
4
2
6
5
1
Hall Sensor
Linear Servomotor
Pin Connector :
17JE-23090-02 (D8C)
by DDK Ltd.
Socket Connector :
17JE-13090-02 (D8C)
Stud : 17L-002C or
17L-002C1
Pin : 021.423.1020
Socket: 020.030.1020
Name plate
Mounting Screws, Depth
(V)
Electrical Angle ()
Inverse
Power
Pin No. Signal
2 Phase U
3 Phase V
4 Phase W
5 0V (Power supply)
6 Not used
7 Not used
8 Not used
9 Not used
1 Phase U Red
2 Phase V White
3 Phase W Blue
4 Not used
5 Not used
6 FG Green
L
i
n
e
a
r

S
e
r
v
o
m
o
t
o
r
s
Linear Servomotors
SGLGW
(Coreless Type)
Linear
136
22.5
7
Pitch 45
Pitch 45
Nameplate
Warning Label
L2
L2
(1 Unit) L1
-0.1
-0.3
22.5
X
X
(22.5)
(22.5)
X
X
5.4
90.2
8
2
1
0

D
i
a
.
5
.
5

D
i
a
.
7.40.2
25.4
X-X
12.7
8
2
1
0

D
i
a
.
5
.
5

D
i
a
.
5.4
(
1
3
)
7.40.2
25.4
4-C1 4-C1
90.2
X-X
SGLGM-
60C
SGLGM-
60CT
(Only for SGLGM- CT)
L2 22.5
(22.5)
(22.5)
22.5 L2
Pitch 45
Pitch 45
7
L1 (1 Unit)
-0.1
-0.3
8
2
8
2
12.2 7.40.2
4-C1
0.2
31.8
15.9
12.2
0.2
31.8
7.40.2
4-C1
SGLGM-
60C-M
SGLGM-
60CT-M
X
X
X
X
5.4
5
.
5

D
i
a
.
1
0

D
i
a
.
5
.
5

D
i
a
.
1
0

D
i
a
.
(
1
3
)
5.4
X-X X-X
(Only for SGLGM- CT-M)
3Magnetic Way : SGLGM-60C (Without mounting holes on the bottom)
SGLGM-60CT (With mounting holes on the bottom)
3High-force Magnetic Way : SGLGM-60C-M (Without mounting holes on the bottom)
SGLGM-60CT-M (With mounting holes on the bottom)
Type
Standard-force Magnetic Way
Model SGLGM-
Standard
Force
60090C or 60090CT 90 45 2 1.1
60225C or 60225CT 225 180 5 2.6
60360C or 60360CT 360 315 8 4.1
60405C or 60405CT 405 360 9 4.6
60450C or 60450CT 450 405 10 5.1
Type
High-force Magnetic Way
Model SGLGM-
High
Force
60090C-M or 60090CT-M 90 45 2 1.3
60225C-M or 60225CT-M 225 180 5 3.3
60360C-M or 60360CT-M 360 315 8 5.2
60405C-M or 60405CT-M 405 360 9 5.9
60450C-M or 60450CT-M 450 405 10 6.6
137
servomotor.
servomotor.
(4) SGLGW-90
Moving Coil Model
SGLGW-
L1 L2 L3 L4 L5 L6 N1 N2
Approx. Mass*
kg
90A200C 199 189 130 40 60 95 3 4 2.2
90A370C 367 357 260 40 55 285 5 8 3.65
90A535C 535 525 455 40 60 380 8 10 4.95
2
50.8
Gap1
Gap1
11.8
2
6
49
1
3
8
1
1
0
3
2
5
0
0
5
0
L2
95
8
1
2
1
UL2517,AWG15
5
0
0
5
0
65
L3 L4
L1
UL20276,AWG26
( 5.3)
(

1
0
.
5
)
L6 L5
2-Screws
#4-40 UNC
Cable
Cable
N2-M6Mounting Screws, Depth 9
2N1-M6 Mounting Screws, Depth 9
(on Both Sides) Nameplate
Plug 350779-1
Pin 350218-3 or
350547-3 (No.1 or 3)
350654-1
350669-1 (No.4)
Cap 350780-1
Socket 350536-3 or
350550-3
9 6
1 5
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
Hall Sensor
Linear Servomotor
Pin Connector :
17JE-23090-02 (D8C)
by DDK Ltd.
Socket Connector :
17JE-13090-02 (D8C)
Stud : 17L-002C or
17L-002C1
The moving coil moves in the direction indicated by the arrow
when current flows in the order of phase U, V, and W.
(V)
Electrical Angle ()
Inverse
Power
Pin No. Signal
2 Phase U
3 Phase V
4 Phase W
5 0V (Power supply)
6 Not used
7 Not used
8 Not used
9 Not used
1 Phase U Red
2 Phase V White
3 Phase W Blue
4 FG Green
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Linear Servomotors
SGLGW
(Coreless Type)
Linear
138
3Magnetic Way: SGLGM-90A
Magnetic Way
SGLGM-
L1 L2 N
Approx. Mass
kg
90252A 252 189 4 7.3
90504A 504 441 8 14.7
X-X
1
2

D
i
a
.
6
.
6

D
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.
6.5
9
5
.
5
50.8
1
1
0
13.8 18.5
X
L2
L2
31.5
L1
(31.5)
Pitch 63
Pitch 63
N-M6 Mounting Screws, Depth 14.5
N-Mounting Holes (Per unit)
8
.
5
Neameplate
(1 Unit)
19
(44)
-0.1
-0.3
X
Warning Label
Note: If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor.
139
SGDV
SERVOPACK
Linear Scale
(To be provided
by users)
Linear Servomotor
Hall Sensor Unit
Cable for Connecting Hall Sensor
(Between serial converter unit and hall sensor unit)
Serial
Converter Unit
(See page 202.)
Linear Servomotor Main Circuit Cable
Encoder Cable
Cable for Connecting Serial Converter Unit
(Between SERVOPACK connector CN2 and serial converter unit)
1Cables
Name
Applicable Linear
Servomotor Model
Length Order No. Specifications Details
Linear Servomotor
Main Circuit Cables
SGLGW-30,-40,-60
1 m J ZSP-CLN11-01-E
(1)
SGLGW-90
(2)
SGLGW
-30D
-40D
-60D
(3)
SERVOPACK End Linear Servomotor End
1Cables Connections
*1
*1
*2
*1: Connector by Tyco Electronics AMP K.K.
*2: Connector by Interconnectron GmbH
(Contd)
Selecting Cables
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Linear Servomotors
SGLGW
(Coreless Type)
Linear
140
1Cables
Name
Applicable Linear
Servomotor Model
Cables for Connecting

Linear Scales*
All models
1 m J ZSP-CLL00-01-E
(4)
Cables for Connecting Serial

Converter Units
All models
1 m J ZSP-CLP70-01-E
(5)
Cables for Connecting Hall

Sensors
All models
(6)
Linear Scale End
Serial Converter
Unit End
Serial Converter
Unit End
Hall Sensor
Unit End
SERVOPACK End
Serial Converter
Unit End
(2) Linear Servomotor Main Circuit Cables: J ZSP-CLN21--E Wiring Specifcations
U
V
W
G
Cable (UL2570)
AWG14/4C
50 mm
Finished Diameter 11.9 Dia.
L 35 mm
M4 Crimped
Terminal
Wire Markers
8.5 mm
14.7
1
4
7.6
2
7
.
7
Cap: 350780-1 (4-pole)
Socket: 350537-3 (Chained)
U
V
W
G
50 mm 51 mm
28 Dia.
L
M4 Crimped
Terminal
Wire Markers
Cable (UL2464)
AWG18/4C
SPUC06KFSDN236
by Interconnectron Gmbh
8.5 mm
SERVOPACK End
SERVOPACK End
Linear Servomotor End
1
2
3 4
5
P 6
Pin No. Signal
Signal Wire Color
1
2
3
4
5
6
Linear Servomotor-end
Connector
FG
Phase W
Phase V
Phase U
FG
Phase W
Phase V
Phase U
Green/yellow
Black (White 1)
Black (White 2)
Black (White 3)
SERVOPACK-end Leads
Selecting Cables
U
V
W
G
50 mm
Finished Diameter
6.8 Dia.
L 35 mm
Heat-shrinkableTube
M4 Crimped
Terminal
Wire Markers Cap: 350780-1 (4-pole)
Cable (UL2464)
AWG18/4C
8.5 mm
14.7
1
4
7.6
2
7
.
7
Pin. No. Signal Signal Wire Color
1
2
3
4
Connector
FG
Phase W
Phase V
Phase U
FG
Phase W
Phase V
Phase U
Green/yellow
Blue
White
Red
SERVOPACK-end Leads
Pin. No. Signal Signal Wire Color
1
2
3
4
Connector
FG
Phase W
Phase V
Phase U
FG
Phase W
Phase V
Phase U
Green/yellow
Blue
White
Red
SERVOPACK-end Leads
* When using the serial converter unit, J ZDP-G00--E, the maximum cable length is 3 m.
141
(4) Cables for Connecting Linear Scales: J ZSP-CLL00--E
Wiring Specifcations
(5) Cables for Connecting Serial Converter Units: J ZSP-CLP70--E
(6) Cables for Connecting Hall Sensors: J ZSP-CLL10--E
SERVOPACK End Serial Converter Unit End
L
Connector:
55100-0670
(6-pin, soldered)
by Molex Japan Co., Ltd.
Connector:
17JE-23090-02 (D8C)
(9-pin, soldered)
by DDK Ltd.
Cable (UL20276)
(AWG222C+AWG242P)
1
2
3
4
5
7
8
9
6
+5V
0V
+5V
0V
1
2
3
4
5
7
8
9
6
Hall Sensor End Serial Converter Unit End
Pin No. Pin No. Signal Signal
Phase U input
Phase V input
Phase W input
Case Shield
Phase U input
Phase V input
Phase W input
Case Shield
1
5
6
9
1
5
6
9
L
Connector:
17JE-23090-02 (D8C)
(9-pin, soldered)
by DDK Ltd.
Serial Converter Unit End
Cable (UL20276)
(AWG222C+AWG242P)
Hall Sensor End
Connector:
17JE-13090-02 (D8C)
(With stud)
(9-pin, soldered)
by DDK Ltd.
1
2
3
4
5
6
PG5V
PG0V
PS
/PS
1
5
3
4
2
6
7
8
9
+5V
0V
Wire Color Signal Pin No.
Shell
Light blue
Light blue/white
Red
Black
Shield
SERVOPACK End
Case
Light blue
Light blue/white
Red
Black
Phase S output
Phase /S output
Shield
Linear Scale End Serial Converter Unit End
1
8
9
15
1
8
9
15
Connector
17JE-23150-02 (D8C)
(15-pinsoldered)
by DDK Ltd.
Connector
17JE-13150-02 (D8C)
(With stud)
(15-pinsoldered)
by DDK Ltd.
L
Cable (UL2584)
(AWG223C+AWG256P)
Signal Pin No.
1
2
3
4
5
7
8
9
10
11
12
13
14
15
Case
6
/Cos (V1)
/Sin (V2)
Ref (V0+)
/Ref (V0+)
+5V
0V
0Vs
DIR
Inner
Shield
5Vs
BID
Vx
Vq
Cos (V1+)
Sin (V2+)
Linear Scale End
Signal Pin No.
1
2
3
4
5
7
8
9
10
11
12
13
14
15
Case
6
/CosV1
/SinV2
RefV0+
/RefV0
+5V
0V
0Vs
DIR
Inner
Shield
5Vs
BID
Vx
Vq
CosV1+
SinV2+
Selecting Cables
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Linear Servomotors
SGLGW
(Coreless Type)
Linear
142
143
Model Designations
Linear Servomotors
2Moving Coil
Servomotor Type
Code Specifications
F F-type iron core
Blank
Connector
by Tyco Electronics
AMP K.K.
All models
D
Connector
by Interconnectron
GmbH
SGLFW-35, -50,
-1Z200B,
-1ZD380B
Connector for Main Circuit Cable
W: Moving Coil
Magnet Height
Voltage
A: 200 VAC
D: 400 VAC
SGL F W - 20 A 090 A P
Code Specifications
P With hall sensor
Blank Without hall sensor
Hall Sensor
A, B, ...
Magnetic Way
SGL F M - 20 324 A
Servomotor Type
Code Specifications
F F-type iron core
M: Magnetic Way
Magnet Height
Code Specifications
Blank Standard
C With magnet cover
Options
A, B, ...
Linear Series
Linear Servomotor
Linear Series
Linear Servomotor
SGLFW
(With F-type iron core)
SGLGW

144
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2Direct-feed mechanism for high-speed and
high-precision positioning.
2The magnetic attraction force between the moving and
stationary members can be used effectively to increase
the rigidity of the linear guidance by preloading the
linear motion bearings.
2The magnetic preloading on certain types of compliant
linear motion bearings can help increase the systems
frequency response, improving its deceleration and
settling performances.
2Feeders and loaders
2LCD manufacturing
equipment
<Correct> <Incorrect>
Moving Coil
Model
SGLFW-
Length of
Moving Coil
L1 (mm)

A (mm)
Total Length

L (mm)
20A090AP 91
22
113
20A120AP 127 149
35120AP 127
22
149
35230AP 235 257
50200P 215
22
237
50380P 395 417
1Z200P 215
22
237
1Z380P 395 417
Moving Coil
Hall Sensor
Magnetic Way
Moving Coil
Movement Direction
Magnetic Way End
Moving Coil
Magnetic Way
L
L1 A
145
SGLFW-
20A 35A 50A 1ZA
090A 120A 120A 230A 200B 380B 200B 380B
Peak Speed m/s 5.0 5.0 5.0 5.0 5.0 5.0 4.9 4.9
Rated Force* N 25 40 80 160 280 560 560 1120
Rated Current* A
rms
0.70 0.80 1.4 2.8 5.0 10.0 8.7 17.5
Peak Force* N 86 125 220 440 600 1200 1200 2400
Peak Current* A
rms
3.0 2.9 4.4 8.8 12.4 25.0 21.6 43.6
Moving Coil Mass kg 0.7 0.9 1.3 2.3 3.5 6.9 6.4 11.5
Force Constant N/A
rms
36.0 54.0 62.4 62.4 60.2 60.2 69.0 69.0
BEMF Constant V/(m/s) 12.0 18.0 20.8 20.8 20.1 20.1 23.0 23.0
Motor Constant N/QW 7.9 9.8 14.4 20.4 34.3 48.5 52.4 74.0
Electrical Time Constant ms 3.2 3.3 3.6 3.6 15.9 15.8 18.3 18.3
Mechanical Time Constant ms 11.0 9.3 6.2 5.5 3.0 2.9 2.3 2.1
Thermal Resistance (With Heat Sink) K/W 4.35 3.19 1.57 0.96 0.56 0.38 0.47 0.2
Thermal Resistance (Without Heat Sink) K/W 7.69 5.02 4.10 1.94 1.65 0.95 1.3 0.73
Magnetic Attraction N 314 462 809 1590 1650 3260 3300 6520
Applicable SERVOPACK SGDV- 1R6 1R6 1R6 3R8 5R5 120A 120A 200A
Notes: 1 The items marked with an * and Force and Speed Characteristics (the table on the next page) are the values at a motor winding temperature of 100C during operation in
combination with a SERVOPACK. The others are at 20C.
2 The above specifications show the values under the cooling condition when a heat sink (aluminum board) listed in the following table is mounted on the moving coil.
Heat Sink Size :125 mm125 mm13 mm: SGLFW-20A090A, -20A120A
254 mm254 mm25 mm: SGLFW-35A120A, -35A230A
400 mm500 mm40 mm: SGLFW-50A200B, -50A380B, -1ZA200B
600 mm762 mm50 mm: SGLFW-1ZA380B
200-V Class
SGLFW-
35D 50D 1ZD
120A 230A 200B 380B 200B 380B
Peak Speed m/s 4.5 4.5 5.0 5.0 5.0 5.0
Rated Force* N 80 160 280 560 560 1120
Rated Current* A
rms
0.6 1.3 2.3 4.5 4.9 9.8
Peak Force* N 220 440 600 1200 1200 2400
Peak Current* A
rms
2.0 4.0 5.6 11.0 12.3 24.6
Moving Coil Mass kg 1.3 2.3 3.5 6.9 6.4 11.5
Force Constant N/A
rms
136.0 136.0 134.7 134.7 122.6 122.6
BEMF Constant V/(m/s) 45.3 45.3 44.9 44.9 40.9 40.9
Motor Constant N/QW 14.2 20.1 33.4 47.2 51.0 72.1
Electrical Time Constant ms 3.7 3.6 15.0 15.0 17.4 17.2
Mechanical Time Constant ms 5.2 5.1 3.2 3.2 2.5 2.2
Thermal Resistance (With Heat Sink) K/W 1.57 0.96 0.56 0.38 0.47 0.2
Thermal Resistance (Without Heat Sink) K/W 4.1 1.94 1.65 0.95 1.3 0.73
Magnetic Attraction N 810 1590 1650 3260 3300 6520
Applicable SERVOPACK SGDV- 1R9D 1R9D 3R5D 5R4D 5R4D 120D
400-V Class
Enclosure: Self-cooled
Notes: 1 The items marked with an * and Force and Speed Characteristics (the table on the next page) are the values at a motor winding temperature of 100C during operation in
combination with a SERVOPACK. The others are at 20C.
Heat Sink Size :254 mm254 mm25 mm: SGLFW-35D120A, -35D230A
400 mm500 mm40 mm: SGLFW-50D200B, -50D380B, -1ZD200B
600 mm762 mm50 mm: SGLFW-1ZD380B
Linear Servomotors
SGLFW
Linear
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146
SGLFW-20A090A
6.0
5.0
4.0
3.0
2.0
1.0
0
0 2 0 4 0 6 0 8 0 0 1 0
A B
SGLFW-50A200B SGLFW-50A380B
6.0
5.0
4.0
3.0
2.0
1.0
0
6.0
5.0
4.0
3.0
2.0
1.0
0
0 200 400 600 800 0 500 1000 1500
SGLFW-1ZA200B SGLFW-1ZA380B
6.0
5.0
4.0
3.0
2.0
1.0
0
0 500 1000 1500
6.0
5.0
4.0
3.0
2.0
1.0
0
0 1000 2000 3000
A
A B B A B A B
SGLFW-35A120A
6.0
5.0
4.0
3.0
2.0
1.0
0
0 5 0 0 1 0 5 1 0 0 2 0 5 2 0
A
B
SGLFW-35A230A
6.0
5.0
4.0
3.0
2.0
1.0
0
0 0 1 0 0 2 0 0 3 0 0 4 0 0 5 0
A
B
SGLFW-20A120A
6.0
5.0
4.0
3.0
2.0
1.0
0
0 20 40 60 80 100 120 140
A
B
Force (N)
M
o
t
o
r

S
p
e
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d

(
m
/
s
)
Force (N)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
Force (N)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
Force (N)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
Force (N)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
Force (N)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
Force (N)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
Force (N)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
(Note1)
200-V Class
Force (N)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
Force (N)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
Force (N)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
Force (N)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
Force (N)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
Force (N)
M
o
t
o
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S
p
e
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d

(
m
/
s
)
SGLFW-35D120A
6.0
5.0
4.0
3.0
2.0
1.0
0
0 5 0 0 1 0 5 1 0 0 2 0 5 2 0
A
B
SGLFW-1ZD200B
6.0
5.0
4.0
3.0
2.0
1.0
0
0 1500 1000 500
A
B
SGLFW-35D230A
6.0
5.0
4.0
3.0
2.0
1.0
0
0 0 1 0 0 2 0 0 3 0 0 4 0 0 5 0
A
B
SGLFW-50D200B
6.0
5.0
4.0
3.0
2.0
1.0
0
0 0 2 0 0 4 0 0 6 0 0 8 0
A
B
SGLFW-50D380B
6.0
5.0
4.0
3.0
2.0
1.0
0
0 1500 1000 500
A
B
SGLFW-1ZD380B
6.0
5.0
4.0
3.0
2.0
1.0
0
0 3000 2000 1000
A B
400-V Class

2

Notes:
The linear servomotors will withstand the following vibration acceleration in three
directions: Vertical, side to side, and front to back.
2
Notes:
2. The dotted line indicates the characteristics when a 400-VAC linear servomotor is used with 200-V input power supply. In this case, a serial converter unit is required.
Contact your Yaskawa representative for details.
147
(1) SGLFW-20
3Moving Coil: SGLFW-20AA (With a connector by Tyco Electronics AMP K.K.)
Socket Connector:
17J E-13090-02 (D8C)
Stud: 17L-002C or
17L-002C1
Pin No. Signal
2 Phase U
3 Phase V
4 Phase W
5 0V (Power supply)
6 Not used
7 Not used
8 Not used
9 Not used
Cap : 350780-1
Socket: 350536-3 or
350550-3
Pin No. Signal
Wire
Color
1 Phase U Red
2 Phase V White
3 Phase W Black
4 FG Green
Linear Servomotor
inverse power of each motor phase Vu,
Vv, Vw becomes as shown in the figure
below.
Plug:350779-1
Pin :350218-3 or
350547-3(No.1 to 3)
350654-1
350669-1(No.4)
Pin Connector :
17J E-13090-02 (D8C)
by DDK Ltd.
9 6
1 5
Electrical Angle()
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
Inverse
Power
(V)
A A
2
0
2
5
.
5
2
2
.
5
4
0
1
7
.
5
1
2
.
5
450.1
34
(
4
4
)
(
2
2
)
(
2
2
)
(32)
0.5
(6)
(
2
0
)
2
2
(Gap 0.8: With Magnet Cover)
(Gap 1: Without Magnet Cover)
(10.2: With Magnet Cover)
(10: Without Magnet Cover)
(4.2: With Magnet Cover)
(4 : Without Magnet Cover)
12
5
0
0
5
0
5
0
0
5
0
AA
7
30 Min.
8 2
.
5
5
.
5
L3
(
6
.
1

D
i
a
.
)
(
4
.
2

D
ia
. )
36
(25)
L1
L2 30 30
(
1
2
)
(
7
.
5
)
(
1
0
)
(
1
2
.
5
)
Nameplate
50 Min.
Hall Sensor
Magnetic Way
2-Screws
#4-40 UNC
See the figures1
and 2 below.
2-M4 Tapped Holes, Depth 5.5
2
0
1
2
.
5
2
2
.
5
30 36
SGLFW-20A090A
2
0
1
2
.
5
2
2
.
5
30 36
72
SGLFW-20A120A
Moving Coil Model
SGLFW-
L1 L2 L3
Approx. Mass
kg
20A090A 91 36 72 0.7
20A120A 127 72 108 0.9
Hall Sensor
Note: Models compatible with connectors by
Interconnectron GmbH are also available.
Linear Servomotors
SGLFW
Linear
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148
Magnetic Way Model
SGLFM-
L1
-0.1
-0.3
L2 (L3) N
Approx. Mass
kg
20324A 324 270 (545) (331.6) 6 0.9
20540A 540 486 (549) (547.6) 10 1.4
20756A 756 702 (5413) (763.6) 14 2
3Magnetic Way: SGLFM-20A
(Gap1)
The Height of Screw Head: 4.2 Max.
Assembly Dimensions
2 N-4.8 Dia.
Mounting Holes
(Reference Mark)
S N S N
Reference Mark
(
Two 4 dia. marks are engraved.
)
S/N YASKAWA YASKAWA
Reference Mark
MADE
O/N
Nameplate
S/N
O/N
MADE IN JAPAN
YASKAWA
Moving Coil
6
9.9
10
4
(
4
0
)
(
2
2
.
5
)
(
1
7
.
5
)
(34)
4
.
5
3
5
4
4
(
4
.
5
)
(
2
2
)
2
2
54
30.8
-0.2
0
L1
L2
(L3)
(54)
(30.8)
-0.3
-0.1
TYPE: TYPE:
S N S N
450.1
Notes: 1 Multiple SGLFM-20A magnetic ways can be connected. Connect magnetic ways so that the reference marks match one on the other in the same direction as shown
in the figure.
2 If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor.
149
(2) SGLFW-35
3Moving Coil: SGLFW-35A (With a connector by Tyco Electronics AMP K.K.)
Socket Connector:
17J E-13090-02(D8C)
Stud:17L-002C or
17L-002C1
Pin No. Signal
2 Phase U
3 Phase V
4 Phase W
5 0V (Power supply)
6 Not used
7 Not used
8 Not used
9 Not used
Cap : 350780-1
Socket: 350536-3 or
350550-3
Pin No. Signal
Wire
Color
1 Phase U Red
2 Phase V White
3 Phase W Black
4 FG Green
Hall Sensor
Linear Servomotor
below.
Plug: 350779-1
Pin : 350218-3 or
350547-3 (No.1 to 3)
350654-1
350669-1 (No.4)
Pin Connector
17J E-23090-02 (D8C)
by DDK Ltd.
9 6
1 5
Electrical Angle()
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
Inverse
Power
(V)
Moving Coil Model
SGLFW-
L1 L2 L3
Approx. Mass
kg
35120A 127 72 108 1.3
35230A 235 180 216 2.3
AA
12
5
0
0
5
0
5
0
0
5
0
A A
7
L1
30
(
6
.
1

D
i
a
.
)
(
4
.
2

D
ia
. )
5
.
5
(
1
0
.
5
)
2
5
.
5
8
(
1
2
.
5
)
(
7
.
5
)
3
5
L3
30 Min.
L2
30
450.1
34
(32)
0.5
(6)
2
.
5
(25)
36
5
5
3
0
2
5
1
2
.
5
(
3
0
)
(
3
0
)
(
8
.
5
)
1
8
(
6
0
)
(Gap 0.8 With Magnet Cover)
(Gap1Without Magnet Cover)
(10.2 With Magnet Cover)
(10 Without Magnet Cover)
Nameplate
50 Min.
Hall Sensor
Magnetic Way
2-Screws
#4-40 UNC
See the figures and below.
(
3
5
)
3
7
3
5
1
8
3
0
8
.
5
1
2
.
5
30 36
72
SGLFW-35120A
3
5
1
8
8
.
5
1
2
.
5
30 36
180(36 5)
3
0
SGLFW-35230A
Linear Servomotors
SGLFW
Linear
L
i
n
e
a
r

S
e
r
v
o
m
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t
o
r
s
150
3Moving Coil: SGLFW-35AD (With a connector by Interconnectron GmbH)
Extension: ARRA06AMRPN182
Pin : 021.279.1020
Plug : APRA06BFRDN170
Socket: 020.105.1020
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
Electrical Angle()
Inverse
Power
(V)
Moving Coil Model
SGLFW-
L1 L2 L3 N
Approx. Mass
kg
35120AD 127 72 108 6 1.3
35230AD 235 180 216 12 2.3
AA
12
5
0
0
5
0
5
0
0
5
0
A A
7
L1
30
(
6
.
1

D
i
a
.
)
(
4
.
2

D
ia
. )
5
.
5
(
1
0
.
5
)
2
5
.
5
8
(
1
2
.
5
)
(
7
.
5
)
3
5
L3
30 Min.
L2 30
450.1
34
(32)
0.5
(6)
2
.
5
25
36
5
5
3
0
2
5
1
2
.
5
(
3
0
)
(
3
0
)
(
8
.
5
)
1
8
(
6
0
)
(Gap 0.8With Magnet Cover)
(Gap1Without Magnet Cover)
(10.2With Magnet Cover)
(10Without Magnet Cover)
Nameplate
50 Min.
2-Screws
#4-40 UNC
See the figures
and below.
(
3
5
)
3
7
3
5
1
8
3
0
8
.
5
1
2
.
5
30 36
72
SGLFW-35120AD
3
5
1
8
8
.
5
1
2
.
5
30 36
180(36 5)
3
0
SGLFW-35230AD
Hall Sensor
Magnetic Way
9 6
1 5
6
5
4
1
2
Pin No. Name
1 Phase U
2 Phase V
4 Phase W
5 Not used
6 Not used
Ground
Socket Connector:
17J E-13090-02 (D8C)
Stud: 17L-002C or
17L-002C1
Pin Connector :
17J E-23090-02 (D8C)
by DDK Ltd.
Hall Sensor
Pin No. Signal
2 Phase U
3 Phase V
4 Phase W
5 0V (Power supply)
6 Not used
7 Not used
8 Not used
9 Not used
Linear Servomotor
below.
151
Magnetic Way Model
SGLFM-
L1
-0.1
-0.3
L2 (L3) N
Approx. Mass
kg
35324A 324 270 (545) (334.4) 6 1.2
35540A 540 486 (549) (550.4) 10 2
35756A 756 702 (5413) (766.4) 14 2.9
in the figure.
L1
L2
(Gap1)
(34)
Assembly Dimensions
Reference Mark
2 N-4.8 Dia. Mounting Holes
(Reference Mark)
S S N S S N N N
(Two 4 dia. marks are engraved.)
Reference Mark
MADE
S/N
O/N
TYPE:
YASKAWA
Nameplate
S/N
O/N
TYPE: MADE IN JAPAN DATE
YASKAWA
Moving Coil
(L3)
6
10
4
450.1
6
0
5
1
3
0
(
3
0
)
(
4
.
5
)
4
.
5
(
5
5
)
(
3
0
)
(
2
5
)
9.9
32.2
54
-0.2
0
(54)
(32.2)
-0.3
-0.1
Linear Servomotors
SGLFW
Linear
L
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e
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r

S
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v
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r
s
152
(3) SGLFW-50
3Moving Coil: SGLFW-50B (With a connector by Tyco Electronics AMP K.K.)
9 6
1 5
Electrical Angle()
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
Inverse
Power
(V)
Moving Coil Model
SGLFW-
L1 L2 L3
Approx. Mass
kg
50200B 215 120 180 3.5
50380B 395 300 360 6.9
7
(40)
(
3
7
.
5
)
3
3
3
.
7
5
3
7
.
7
5
7
1
.
5
(
3
7
.
5
)
(
7
5
)
0.5
(9)
430.05
580.1
(5.2)
(
4
8
)
(
6
4
.
5
)
(Gap 0.8 With Magnet Cover)
(Gap 1 Without Magnet Cover)
(
7
.
4

D
i
a
.
)
25 L3
L2
(40)
60
55
L1
30
(
4
.
2

D
ia
. )
2
3
.
5
10
(
1
5
)
(
1
2
)
5
0
0
5
0
5
0
0
5
0
Hall Sensor
Magnetic Way
50 Min.
50 Min.
#4-40UNC
2-Screws
See the figures
and below.
Nameplate
4
8
2
3
.
5
1
2
1
4
55 60
120
SGLFW-50200B
4
8
2
3
.
5
1
2
1
455 60
300(60 5)
SGLFW-50380B
Socket Connector:
17J E-13090-02 (D8C)
Stud: 17L-002C or
17L-002C1
Pin Connector :
17J E-23090-02 (D8C)
by DDK Ltd.
Hall Sensor
Pin No. Signal
2 Phase U
3 Phase V
4 Phase W
5 0V (Power supply)
6 Not used
7 Not used
8 Not used
9 Not used
Cap : 350780-1
Socket: 350536-3 or
350550-3
Linear Servomotor
Plug:350779-1
Pin :350218-3 or
350547-3(No.1 to 3)
350654-1
350669-1(No.4)
Pin No. Signal
Wire
Color
1 Phase U Red
2 Phase V White
3 Phase W Black
4 FG Green
below.
153
3Moving Coil: SGLFW-50BD (With a connector by Interconnectron GmbH)
Moving Coil Model
SGLFW-
L1 L2 L3 N
Approx. Mass
kg
50200BD 215 120 180 6 3.5
50380BD 395 300 360 12 6.9
5
0
.
5
3
3
.
7
5
3
7
.
7
5
7
7
1
.
5
1
4
3
(
3
7
.
5
)
(
7
5
)
(
3
7
.
5
)
(40)
43
580.1
0.5
(9)
(Gap 1Without Magnet Cover)
2-Screws
#4-40 UNC
5
0
0
5
0
5
0
0
5
0
10
30
(
7
.
4

D
i
a
.
)
(
4
.
2

D
i
a
.
)
(
1
5
)
L3
L2
L1
25
55 40
60
(
1
2
)
2
3
.
5
4
8
50 Min.
50 Min.
Hall Sensor
Magnetic Way
Nameplate
4
8
2
3
.
5
1
2
1
4
55 60
120
See the figures
and below.
(
4
8
)
SGLFW-50200BD
4
8
2
3
.
5
1
2
1
455 60
300(60 5)
SGLFW-50380BD
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
Electrical Angle()
Inverse
Power
(V)
6
5
4
1
2
9 6
1 5
Socket Connector:
17J E-13090-02 (D8C)
Stud: 17L-002C or
17L-002C1
Pin Connector :
17J E-23090-02 (D8C)
by DDK Ltd.
Hall Sensor
Pin No. Signal
2 Phase U
3 Phase V
4 Phase W
5 0V (Power supply)
6 Not used
7 Not used
8 Not used
9 Not used
Linear Servomotor
below.
Pin : 021.279.1020
Socket: 020.105.1020
Pin No. Name
1 Phase U
2 Phase V
4 Phase W
5 Not used
6 Not used
Ground
Linear Servomotors
SGLFW
Linear
L
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S
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m
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r
s
154
Magnetic Way Model
SGLFM-
L1
-0.1
-0.3
L2 (L3) N
Approx. Mass
kg
50405A 405 337.5 (67.55) (416.3) 6 2.8
50675A 675 607.5 (67.59) (686.3) 10 4.6
50945A 945 877.5 (67.513) (956.3) 14 6.5
in the figure.
(Gap1)
Reference Mark
Moving Coil
Assembly Dimensions
2 N-5.8 Dia. Mounting Holes
(Reference Mark)
S S S N S N N N
Reference Mark
(Two 4 dia. marks are engraved.)
TYPE:
YASKAWA
Nameplate
S/N
O/N
YASKAWA
67.5
9 5
580.1
14
(43)
(
5
)
5
7
5
6
5
3
7
.
5
(
3
7
.
5
)
(
3
7
.
7
5
)
(
7
1
.
5
)
(
3
3
.
7
5
)
8.6
39.4-0.2
0
L1
L2
(L3)
-0.3
-0.1
(67.5)
(39.4)
155
(4) SGLFW-1Z
3Moving Coil: SGLFW-1ZB (With a connector by Tyco Electronics AMP K.K.)
Moving Coil Model
SGLFW-
L1 L2 L3 N
Approx. Mass
kg
1Z200B 215 120 180 9 6.4
1Z380B 395 300 360 18 11.5
9
6
3
5
.
5
3
5
.
5
1
2
1
4
55 60
120
SGLFW-1Z200B
5
0
5
0
0
5
0
5
0
0
60
(
1
5
)
10 L3
25
9
6
(
1
2
)
L1
L2 55 30
(
8
.
4

D
i
a
. )
(
4
.
2

D
ia
. )
9
6
3
5
.
5
3
5
.
5
40
9
8
1
1
9
5
7
.
5
6
1
.
5
(
6
2
.
5
)
(
6
2
.
5
)
(
1
2
5
)
3
(40)
7
1
4
43
0.1 58
0.5
(9)
50 Min.
50 Min.
Hall Sensor
Magnetic Way
2-Screws
#4-40 UNC
See the figures
and below.
9
63
5
.
5
3
5
.
5
1
2
1
4
55 60
300(605)
SGLFW-1Z380B
Nameplate
9 6
1 5
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
Electrical Angle()
Inverse
Power
(V)
Socket Connector:
17J E-13090-02 (D8C)
Stud: 17L-002C or
17L-002C1
Pin Connector :
17J E-23090-02 (D8C)
by DDK Ltd.
Hall Sensor
Pin No. Signal
2 Phase U
3 Phase V
4 Phase W
5 0V (Power supply)
6 Not used
7 Not used
8 Not used
9 Not used
Cap : 350780-1
Socket: 350536-3 or
350550-3
Linear Servomotor
Plug:350779-1
Pin :350218-3 or
350547-3(No.1 to 3)
350654-1
350669-1(No.4)
Pin No. Signal
Wire
Color
1 Phase U Red
2 Phase V White
3 Phase W Black
4 FG Green
below.
Linear Servomotors
SGLFW
Linear
L
i
n
e
a
r

S
e
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m
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s
156
3Moving Coil: SGLFW-1ZBD (With a connector by Interconnectron GmbH)
Moving Coil Model
SGLFW-
L1 L2 L3 N
Approx. Mass
kg
1Z200BD 215 120 180 9 6.4
1ZD380BD 395 300 360 18 11.5
9
6
3
5
.
5
3
5
.
5
1
2
1
4
55 60
120
SGLFW-1Z200BD
5
0
5
0
0
5
0
0
5
0
60
(
1
5
)
10 L3
25
9
6
(
1
2
)
L1
L2 55 30
(
8
.
4

D
i
a
.
)
(
4
.
2

D
ia
. )
9
6
3
5
.
5
3
5
.
5
40
9
8
1
1
9
5
7
.
5
6
1
.
5
(
6
2
.
5
)
(
6
2
.
5
)
(
1
2
5
)
3
(40)
7
1
4
43
0.1 58
0.5
(9)
50 Min.
50 Min.
Hall Sensor
Magnetic Way
2-Screws
#4-40 UNC
See the figures
and below.
9
63
5
.
5
3
5
.
5
1
2
1
4
55 60
300(605)
SGLFW-1ZD380BD
Nameplate
9 6
1 5
6
5
4
1
2
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
Electrical Angle()
Inverse
Power
(V)
Socket Connector:
17J E-13090-02 (D8C)
Stud: 17L-002C or
17L-002C1
Pin Connector :
17J E-23090-02 (D8C)
by DDK Ltd.
Hall Sensor
Pin No. Signal
2 Phase U
3 Phase V
4 Phase W
5 0V (Power supply)
6 Not used
7 Not used
8 Not used
9 Not used
Linear Servomotor
Pin : 021.279.1020
Socket: 020.105.1020
Pin No. Name
1 Phase U
2 Phase V
4 Phase W
5 Not used
6 Not used
Ground
below.
157
3Magnetic Way: SGLFM-1ZA
Magnetic Way Model
SGLFM-
L1
-0.1
-0.3
L2 L3 N
Approx. Mass
kg
1Z405A 405 337.5 (67.5 5) (423.9) 6 5
1Z675A 675 607.5 (67.5 9) (693.9) 10 8.3
1Z945A 945 877.5 (67.5 13) (963.9) 14 12
Notes: 1 Multiple SGLFM-1ZA magnetic ways can be connected. Connect magnetic ways so that the reference marks match one on the other in the same direction as
shown in the figure.
1
2
5
1
1
2
6
.
5
(
6
.
5
)
(
6
2
.
5
)
6
2
.
5
(
6
1
.
5
)
(
5
7
.
5
)
(
1
1
9
)
(43.2)
67.5 14
9 5
580.1
(43)
(Gap1)
Assembly Dimensions
(Reference Mark)
S S S S N N N N
Reference Mark
11.5 Dia. counter boring, Depth 1.5
Nameplate
2N-7 Dia.Mounting Holes
Moving Coil
8.6
43.2-0.2
0
L1
L2
(L3)
-0.3
-0.1
1.5
1
1
.
5
TYPE:
YASKAWA
TYPE:
YASKAWA S/N
O/N
MADE IN JAPANDATE
(67.5)
(
Two 4 dia. marks are engraved.
)
Reference Mark
Linear Servomotors
SGLFW
Linear
L
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158
Selecting Cables
1Cables Connections
SGDV
SERVOPACK
Linear Scale
(To be provided
by users)
Hall Sensor Unit
Cable For Connecting Hall Sensor
Serial Converter Unit
(See page 202.)
Encoder Cable
Linear Servomotor
159
Selecting Cables
1Cables
Name Applicable Linear Servomotor Model Length Order No. Specifications Details
Linear Servomotor
Main Circuit
Cables
SGLFW-20, -35
(1)
SGLFW-50, -1Z
(2)
SGLFW-
AD
(3)
SGLFW-
DD
(4)

Linear Scales
*3
All models
(5)

Serial Converter Units
All models
(6)

Sensors
All models
(7)
Linear Scale End
Serial Converter
Unit End
SERVOPACK End
Serial Converter
Unit End
Serial Converter
Unit End
Hall Sensor
Unit End
*3: When using the serial converter unit, J ZDP-G00--E, the maximum cable length is 3 m.
Linear Servomotor End SERVOPACK End
*1
*2
*2
*1
Linear Servomotors
SGLFW
Linear
L
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S
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160
Selecting Cables
(3) Linear Servomotor Main Circuit Cables: J ZSP-CLN14--E
U
V
W
G
50 mm 51 mm
28 Dia.
L
M4 Crimped
Terminal
Wire Markers
Cable (UL2464)
AWG18/4C
SPUC06KFSDN236
8.5 mm
SERVOPACK End
SERVOPACK End
1
2
3 4
5
P 6
1
2
3
4
5
6
Connector
FG
Phase W
Phase V
Phase U
FG
Phase W
Phase V
Phase U
Green/yellow
Black (White 1)
Black (White 2)
Black (White 3)
SERVOPACK-end Leads
Wiring Specifications
U
V
W
G
50 mm
Finished Diameter
6.8 Dia.
L 35 mm
Heat-shrinkable
Tube
M4 Crimped
Terminal
Wire Markers Cap : 350780-1 (4-pole)
Cable (UL2464)
AWG18/4C
8.5 mm
14.7
1
4
7.6
2
7
.
7
1
2
3
4 FG
Phase W
Phase V
Phase U
FG
Phase W
Phase V
Phase U
Green/yellow
Blue
White
Red
Connector
SERVOPACK-end Leads
U
V
W
G
50 mm L 35 mm
M4 Crimped
Terminal
Wire Markers Cap : 350780-1 (4-pole)
Cable (UL2570)
AWG14/4C
8.5 mm
SERVOPACK End
14.7
1
4
7.6
2
7
.
7
Finished Diameter
11.9 Dia.
Heat-shrinkable
Tube
1
2
3
4 FG
Phase W
Phase V
Phase U
FG
Phase W
Phase V
Phase U
Green/yellow
Blue
White
Red
Connector
SERVOPACK-end Leads
161
Selecting Cables
U
V
W
G
50 mm 61 mm
27.2 Dia.
3.4 mm
L
M4 Crimped
Terminal
Wire Markers
Cable (UL2464)
AWG18/4C
LPRA06BFRDN182
8.5 mm
1
2
4
5
1
2
3
4
5
6
Connector
FG
Phase W
Phase V
Phase U
FG
Phase W
Phase V
Phase U
Green/yellow
Red
White
Black
SERVOPACK-end Leads
Linear Scale End Serial Converter Unit End
1
8
9
15
1
8
9
15
Connector 17JE-23150-02 (D8C)
(15-pin, soldered )
by DDK Ltd.
Connector 17JE-13150-02 (D8C)
(With stud)(15-pin, soldered)
by DDK Ltd.
L
Cable (UL 2584)
(AWG223C+AWG256P)
Signal Pin No.
1
2
3
4
5
7
8
9
10
11
12
13
14
15
Case
6
/CosV1
/SinV2
Ref V0+
/Ref V0+
+5V
0V
0Vs
DIR
Inner
Shield
5Vs
BID
Vx
Vq
CosV1+
SinV2+
Linear Scale End
Signal Pin No.
1
2
3
4
5
7
8
9
10
11
12
13
14
15
Case
6
/CosV1
/SinV2
Ref V0+
/Ref V0
+5V
0V
0Vs
DIR
Inner
Shield
5Vs
BID
Vx
Vq
CosV1+
SinV2+
Linear Servomotors
SGLFW
Linear
L
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n
e
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S
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m
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s
162
L
Connector: 55100-0670
(6-pin, soldered)
Connector17JE-23090-02 D8C
(9-pin, soldered)
by DDK Ltd.
Cable (UL20276)
AWG222C+AWG242P
Signal Pin No.
1
2
3
4
5
6
Shell
PG5V
PG0V
PS
/PS
Shield
SERVOPACK End
Signal Pin No.
1
5
3
4
2
6
7
8
9
Case
+5V
0V
Wire Color
Light blue
Light blue/white
Red
Black
Wire Color
Light blue
Light blue/white
Red
Black
Phase S output
Phase /S output
Shield
Hall Sensor End
1
5
6
9
1
5
6
9
L
Connector :17JE-23090-02 (D8C)
(9-pin, soldered)
by DDK Ltd.
Connector :17JE-13090-02 (D8C)
(With stud)(9-pin, soldered)
by DDK Ltd.
Cable (UL20276)
AWG222C+AWG242P
Signal Pin No.
1
2
3
4
5
7
8
9
6
+5V
Phase U input
Phase V input
Phase W input
0V
+5V
Phase U input
Phase V input
Phase W input
0V
Hall Sensor End
Signal Pin No.
1
2
3
4
5
7
8
9
Case
6
Shield Case Shield
Selecting Cables
Model Designations
163
Linear Servomotors
SGLTW
(With T-type iron core)
Code Specification Applicable Model
Blank
Connector by Tyco
Electronics AMP
K.K.
SGLTW
-20A
-35A
-50A
MS connector
SGLTW
-40B
-80B
D
Connector by
Interconnectron
GmbH
SGLTW
-35DH
-50DH
Connector for Main Circuit Cable Linear Series
W: Moving Coil
Magnet Height
Voltage
A: 200 VAC
D: 400 VAC
SGL
A, B, ...
H: High-efficiency Type
2Magnetic Way (All Models are Non-Stock)
Linear Series
Linear Servomotor
M: Magnetic Way
Magnet Height
A, B, ...
H: High-efficiency Type
T W - 20 A 170 A P
Code Specifications
P With hall sensor
Blank Without hall sensor
Hall Sensor
SGL T M - 20 A
Servomotor Type
Code Specifications
T T-type iron core
Blank Standard All models
C With magnet cover Models with core
Y With base and magnet cover SGLTM-20, -35, -40, -80(Note)
Options
Note: Not available for these models: the SGLTM-35H
and the SGLTM-50H.
SGLTW
2Moving Coil (All Models are Non-Stock)
324
Servomotor Type
Code Specifications
T T-type iron core
Note: Shaded items are non-stock
SGLGW

164
3 Direct-feed mechanism for high-speed and high-
precision positioning.
3 Yaskawa's unique construction principles of the TW
linear motors negate the effects of the magnetic
attraction force between the relative motor members.
3 Lack of magnetic attraction helps to extend the life of
the linear motion guides and to minimize operation
noise.
3 Very little cogging.
3 Feeders and loaders
3 Mounters
3 Machine tools
<Correct > <Incorrect >
Moving Coil
Hall Sensor
Magnetic Way
Moving Coil
Movement Direction
Magnetic Way End
Moving Coil
Hall Sensor
L
L1 A
Magnetic Way
Moving Coil
Model
SGLTW-
Length of
Moving Coil
L1 (mm)

A (mm)
Total Length

L (mm)
20A170AP 170
34
204
20A320AP 315 349
20A460AP 460 494
35A170AP 170
34
204
35A320AP 315 349
35A460AP 460 494
35170HP 170
34
204
35320HP 315 349
50170HP 170
34
204
50320HP 315 349
40A400AP 395 26 421
40A600AP 585 36 621
80A400AP 395 26 421
80A600AP 585 36 621
40400BP 395
26
421
40600BP 575 601
80400BP 395
26
421
80600BP 575 601
165
*1 : The unbalanced magnetic gap resulted from the moving coil installation condition causes a magnetic attraction on the moving coil.
*2 : The value indicates the magnetic attraction generated on one side of the magnetic way.
Notes: 1 The items marked with an * and Force and Speed Characteristics (on the next page) are the values at a motor winding temperature of 100C during operation in combination with
a SERVOPACK. The others are at 20C.
Heat Sink Size 254 mm254 mm25 mm : SGLTW-20A170A,-35A170A
400 mm500 mm40 mm : SGLTW-20A320A,-20A460A,-35A170H,-35A320A,-35A320H,-35A460A,-50A170H
609 mm762 mm50 mm : SGLTW-40A400B,-40A600B,-50A320H,-80A400B,-80A600B
SGLTW-
Standard Type High-efficiency Type
20A 35A 40A 80A 35A 50A
170A 320A 460A 170A 320A 460A 400B 600B 400B 600B 170H 320H 170H 320H
Peak Speed m/s 5 5 5 5 5 5 3.1 3.1 2.5 2.5 4.8 4.8 3.2 3.1
Rated Force* N 130 250 380 220 440 670 670 1000 1300 2000 300 600 450 900
Rated Current* A
rms
2.3 4.4 6.7 3.5 7 10.7 7.3 10.9 11.1 17.1 5.1 10.1 4.9 9.8
Peak Force* N 380 760 1140 660 1320 2000 2600 4000 5000 7500 600 1200 900 1800
Peak Current* A
rms
7.7 15.4 23.2 12.1 24.2 36.7 39.4 60.6 57.9 86.9 11.9 23.9 11.5 22.9
Moving Coil Mass kg 2.5 4.6 6.7 3.7 6.8 10 15 23 24 35 4.9 8.8 6 11
Force Constant N/A
rms
61 61 61 67.5 67.5 67.5 99.1 99.1 126 126 64 64 98.5 98.5
BEMF Constant V/(m/s) 20.3 20.3 20.3 22.5 22.5 22.5 33 33 42 42 21.3 21.3 32.8 32.8
Motor Constant N/ w 18.7 26.5 32.3 26.7 37.5 46.4 61.4 75.2 94.7 116 37.4 52.9 50.3 71.1
Electrical Time Constant ms 5.9 5.9 5.9 6.9 6.8 7 15.2 15.2 17 17 15.1 15.1 16.5 16.5
Mechanical Time Constant ms 7.5 6.5 6.4 5.2 4.8 4.6 4 4 3 3 3.3 3.3 2.8 2.8
Thermal Resistance (With Heat Sink) K/W 1.01 0.49 0.38 0.76 0.44 0.32 0.24 0.2 0.22 0.18 0.76 0.4 0.61 0.3
Thermal Resistance (Without Heat Sink) K/W 1.82 1.11 0.74 1.26 0.95 0.61 0.57 0.4 0.47 0.33 1.26 0.83 0.97 0.8
Magnetic Attraction
*1
N 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Magnetic Attraction(on one side)
*2
N 800 1590 2380 1400 2780 4170 3950 5890 7650 11400 1400 2780 2000 3980
Applicable SERVOPACK SGDV- 3R8A 7R6A 120A 5R5A 120A 180A 180A 330A 330A 550A 5R5A 120A 5R5A 120A
200-V Class
400-V Class
SGLTW-
Standard Type High-efficiency Type
40D 80D 35D 50D
400B 600B 400B 600B 170H 320H 170H 320H
Peak Speed m/s 3.1 3.1 3.1 3.1 5 5 4 4
Rated Force* N 670 1000 1300 2000 300 600 450 900
Rated Current* A
rms
3.7 5.5 7.2 11.1 3.2 6.5 3.2 6.3
Peak Force* N 2600 4000 5000 7500 600 1200 900 1800
Peak Current* A
rms
20.7 30.6 37.6 56.4 7.7 15.5 7.4 14.8
Moving Coil Mass kg 15 23 24 35 4.7 8.8 6 11
Force Constant N/A
rms
196.1 196.1 194.4 194.4 99.6 99.6 153.3 153.3
BEMF Constant V/(m/s) 65.4 65.4 64.8 64.8 33.2 33.2 51.1 51.1
Motor Constant N/ w 59.6 73 85.9 105.2 36.3 51.4 48.9 69.1
Electrical Time Constant ms 14.3 14.4 15.6 15.6 14.3 14.4 15.6 15.6
Mechanical Time Constant ms 4.3 4.2 3.2 3.2 3.5 3.3 2.5 2.5
Thermal Resistance (With Heat Sink) K/W 0.24 0.2 0.22 0.18 0.76 0.4 0.61 0.3
Thermal Resistance (Without Heat Sink) K/W 0.57 0.4 0.47 0.33 1.26 0.83 0.97 0.8
Magnetic Attraction
*1
N 0 0 0 0 0 0 0 0
Magnetic Attraction(on one side)
*2
N 3950 5890 7650 11400 1400 2780 2000 3980
Applicable SERVOPACK SGDV- 120D 170D 170D 260D 3R5D 8R4D 3R5D 8R4D
*1 : The unbalanced magnetic gap resulted from the moving coil installation condition causes a magnetic attraction on the moving coil.
*2 : The value indicates the magnetic attraction generated on one side of the magnetic way.
Notes: 1 The items marked with an * and Force and Speed Characteristics are the values at a motor winding temperature of 100C during operation in combination with a SERVOPACK.
The others are at 20C.
Heat Sink Size 400 mm500 mm40 mm : SGLTW-35D170H,-35D320H,-50D170H
609 mm762 mm50 mm : SGLTW-40D400B,-40D600B,-50D320H,-80D400B,-80D600B
Linear Servomotors
SGLTW
Linear
L
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S
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166
6
5
4
3
2
1
0
6
5
4
3
2
1
0
0 100 200 300 400
0 200 400 600700
A B
A
B
SGLTW-20A170A
SGLTW-35A170A
A B
6
5
4
3
2
1
0
0 400 800 1200 1400
SGLTW-35A320A
A
B
6
5
4
3
2
1
0
0 500 1000 1500 2000 2500
SGLTW-35A460A
A
B
4
3
2
1
0
0 1000 2000 3000
SGLTW-40A400B
A
B
4
3
2
1
0
0 2000 4000
SGLTW-40A600B
A
B
4
3
2
1
0
0 2000 4000 6000
SGLTW-80A400B
A B
6
5
4
3
2
1
0
0 200 400 600 800
SGLTW-20A320A
A B
6
5
4
3
2
1
0
0 200 400 600 800 1000 1200
SGLTW-20A460A
A
B
4
3
2
1
0
0 0 0 6 0 0 0 8 0 0 0 4 0 0 0 2 0
SGLTW-80A600B
Force (N)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
Force (N)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
Force (N)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
Force (N)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
Force (N)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
Force (N)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
Force (N)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
Force (N)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
Force (N)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
Force (N)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
200-V Class Standard Type
6
5
4
3
2
1
0
4
3
2
1
0
0 0 6 0 0 2 0 0 4 0 0 0 0 9 0 0 3 0 0 6
B A
B A
4
3
2
1
0
0 1200 600 1800
B
A
SGLTW-35A170H SGLTW-50A170H
A
B
6
5
4
3
2
1
0
0 400 800 1200
SGLTW-35A320H SGLTW-50A320H
Force (N)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
Force (N)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
Force (N)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
Force (N)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
200-V Class High-effciency Type
Note: When the effective force during intermittent duty is within the rated force, the servomotor can be used within the intermittent duty zone.
167
400-V Class Standard Type
Notes: 1 When the effective force during intermittent duty is within the rated force, the servomotor can be used within the intermittent duty zone.
2 The dotted line indicates the characteristics when a 400-VAC linear servomotor is used with 200-V input power supply. In this case, a serial converter unit is required.
Contact your Yaskawa representative for details.
A
B
4
3
2
1
0
4
3
2
1
0
4
3
2
1
0
0 1000 2000 3000
SGLTW-40D400B
A
B
0 2000 4000
SGLTW-40D600B
A
B
0 2000 4000 6000
SGLTW-80D400B
4
3
2
1
0
A
B
0 0 0 6 0 0 0 8 0 0 0 4 0 0 0 2 0
SGLTW-80D600B
Force (N)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
Force (N)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
Force (N)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
Force (N)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
0 200 400 600
SGLTW-35D170H
A B
6
5
4
3
2
1
0
0 1200 400 800
SGLTW-35D320H
A
B
5
4
3
2
1
0
0 300 600 900
SGLTW-50D170H
A
B
5
4
3
2
1
0
0 600 1200 1800
SGLTW-50D320H
A B
6
5
4
3
2
1
0
Force (N)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
Force (N)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
Force (N)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
Force (N)
M
o
t
o
r

S
p
e
e
d

(
m
/
s
)
400-V Class High-effciency Type
2
The linear servomotors will withstand the following vibration acceleration in three directions: Vertical, side to side, and front to
back.
2
1Force and Speed Characteristics (contd) A : Continuous Duty Zone B : Intermittent Duty Zone
Linear Servomotors
SGLTW
Linear
L
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S
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m
o
t
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s
168
(
1
9
.
2

W
i
t
h

M
a
g
n
e
t

C
o
v
e
r
)
(
1
9

W
i
t
h
o
u
t

M
a
g
n
e
t

C
o
v
e
r
)
(
G
a
p

0
.
8

W
i
t
h

M
a
g
n
e
t

C
o
v
e
r
)
(
G
a
p

1

W
i
t
h
o
u
t

M
a
g
n
e
t

C
o
v
e
r
)
47.5
1
0
0
6
0
8
0
2
8
2
0
(
1
5
)
(
1
5
)
(
7
0
)
(7.4 Dia.)
(4.2 Dia.)
(55)
50050
50050
12
51
(L3)
L1
1
L2 10
48
50
6
0
90 Min.
63 Min.
N-M6 Tapped Holes, Depth 12
2-Screws
#4-40 UNC
Nameplate
Hall Sensor
Magnetic Way
Plug: 350779-1
Pin : 350218-3 or
350547-3 (No.1 to 3)
350654-1
350669-1 (No.4)
Cap : 350780-1
Socket: 350536-3 or
350550-3
Hall Sensor
Pin Connector:
17JE-23090-02 (D8C)
by DDK Ltd.
Socket Connector:
17JE-13090-02 (D8C)
Stud: 17L-002C or
17L-002C1
Linear Servomotor
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
below.
9 6
1 5
Electrical Angle
(

)
Inverse
Power
(
V
)
(1) Standard Type SGLTW-20
3Moving Coil: SGLTW-20AA (With a connector by Tyco Electronics AMP K.K.)
Moving Coil Model
SGLTW-
L1 L2 (L3) N
Approx. Mass
kg
20A170A 170 144 (483) (16) 8 2.5
20A320A 315 288 (486) (17) 14 4.6
20A460A 460 432 (489) (18) 20 6.7
Pin No. Signal
1 +5VDC
2 Phase U
3 Phase V
4 Phase W
5 0V
6 Not used
7 Not used
8 Not used
9 Not used
Pin No. Signal
Wire
Color
1 Phase U Red
2 Phase V White
3 Phase W Black
4 Ground Green
169
Moving Coil
Nameplate
S/N
O/N
TYPE: MADE IN JAPAN
DATE YASKAWA
2 N-M6 Screws, Depth 8
Assembly Dimensions
C
1
C
1
2 N-7 Dia. Mounting Holes (See the sectional view for the depth.)
Spacers: Do not remove them until the moving coil
is mounted on the machine.
(54)
L2
54
9
.
9
L2
54
(29.3)
(54)
R
6
(54)
8
40.3
0
-0.2 L2
54
(29.3)
L1
-0.1
-0.3
L1
-0.1
-0.3
31.7
13.7
0
-0.2
0
-0.2
(9.4)
9.9
*2.40.3
*2.40.3
32 (8)
(55)
40
2
7
8
7
2
7
(
1
)
(
1
0
0
)
1
9
G
a
p
1
0
.
3
1
5
1
5
1
0
3

M
a
x
.
(
P
r
e
s
h
i
p
m
e
n
t
)
7
1
.
5
1
(
P
r
e
s
h
i
p
m
e
n
t
)
*
7
0
0
.
3
*700.3
62
+0.6
0
3
R
0
.
5

M
a
x
.
R
1

M
a
x
.
Mount the magnetic
way so that its
corner surfaces are
flush with the inner
step.
Mount the magnetic
way so that its
corner surfaces are
step.
3Magnetic Way : SGLTM-20A
Magnetic Way Model
SGLTM-
L1
-0.1
-0.3
L2 N
Approx. Mass
kg
20324A 324 270 (545) 6 3.4
20540A 540 486 (549) 10 5.7
20756A 756 702 (5413) 14 7.9
Notes: 1 Two magnetic ways for both ends of moving coil make one set. Spacers are mounted on magnetic ways for safety during transportation. Do not remove the spacers until the
moving coil is mounted on a machine.
3 Two magnetic ways in a set can be connected to each other.
4 The dimensions marked with an * are the dimensions between the magnetic ways. Be sure to follow exactly the dimensions specified in the figure above. Mount magnetic ways
as shown in Assembly Dimensions. The values with a are the dimensions at preshipment.
5 Use socket headed screws of strength class 10.9 minimum for magnetic way mounting screws. Do not use stainless steel screws.
Linear Servomotors
SGLTW
Linear
L
i
n
e
a
r

S
e
r
v
o
m
o
t
o
r
s
170
3Magnetic Way with Base: SGLTM-20AY
Notes: 1 If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor.
3 The characteristics of the magnetic way with base are the same as of the magnetic way without base (SGLTM-20A).
Magnetic Way Model
SGLTM-
L1 L2 L3 L4 L5 N1 N2
Approx. Mass
kg
20324AY 324 270 310 162 162 6 2 5.1
20540AY 540 486 526 378 189 10 3 8.5
20756AY 756 702 742 594 198 14 4 12
Includes a 0.2 thick magnet cover.
Moving Coil
Gap
Base
2
7
1
5
2.40.3
1
3
2
1
1
6
8
7
2.40.3
L3
L4
L5
0
.
8
0
.
3
0
.
8
1
9
.
2
0
.
3
7
0
-0.1
-0.3 L1
11.7
54
2.3
20
54
L2
9
.
9
74
14
162 74
54 11.7
L2
54
20
2
7
9
.
9
1
6
0
1
5
1
5
1
0
0
70
55
40
15
S / N
O / N
T Y P E : M A D E I N J A P A N D A T E
Y A S K A W A
S/N
O/N
YASKAWA
2 N2-10 Dia. Mounting Holes
(See the sectional view for the depth.)
2 N1-M6 Screws, Depth 8
2 N1-M6
Bolts, Depth 16
171
(2) Standard Type SGLTW-35A
3Moving Coil: SGLTW-35AA (With a connector by Tyco Electronics AMP K.K.)
55
1
0
0
6
0
2
8
2
0
(8.4 Dia.)
(70)
66
12
(4.2 Dia.)
50050
50050
50
6
0
(
7
0
)
(
1
5
)
(L3)
L1
8
0
1
10
48
L2
(
1
5
)
(
1
9
.
2

W
i
t
h

M
a
g
n
e
t

C
o
v
e
r
)
(
1
9

W
i
t
h
o
u
t

M
a
g
n
e
t

C
o
v
e
r
)
(
G
a
p

0
.
8

W
i
t
h

M
a
g
n
e
t

C
o
v
e
r
)
(
G
a
p

1

W
i
t
h
o
u
t

M
a
g
n
e
t

C
o
v
e
r
)
2-Screws
#4-40 UNC
Nameplate
Magnetic Way
100 Min.
63 Min.
Hall Sensor
Plug: 350779-1
Pin : 350218-3 or
350547-3 (No.1 to 3)
350654-1
350669-1 (No.4)
Cap : 350780-1
Socket: 350536-3 or
350550-3
Hall Sensor
Pin Connector:
17JE-23090-02 (D8C)
by DDK Ltd.
Socket Connector:
17JE-13090-02 (D8C)
Stud: 17L-002C or
17L-002C1
Linear Servomotor
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
below.
9 6
1 5
Electrical Angle
(

)
Inverse
Power
(
V
)
Pin No. Signal
1 +5VDC
2 Phase U
3 Phase V
4 Phase W
5 0V
6 Not used
7 Not used
8 Not used
9 Not used
Pin No. Signal
Wire
Color
1 Phase U Red
2 Phase V White
3 Phase W Black
4 Ground Green
Moving Coil Model
SGLTW-
L1 L2 (L3) N
Approx. Mass
kg
35A170A 170 144 (483) (16) 8 3.7
35A320A 315 288 (486) (17) 14 6.8
35A460A 460 432 (489) (18) 20 10
Linear Servomotors
SGLTW
Linear
L
i
n
e
a
r

S
e
r
v
o
m
o
t
o
r
s
172
3Magnetic Way: SGLTM-35A
Magnetic Way Model
SGLTM-
L1
-0.1
-0.3
L2 N
Approx. Mass
kg
35324A 324 270 (545) 6 4.8
35540A 540 486 (549) 10 8
35756A 756 702 (5413) 14 11
(54)
L2
54
L1
-0.1
-0.3
15
0
-0.2
MADE IN JAPANDATE
S/N
O/N
TYPE:
YASKAWA
Assembly Dimensions
C
1
C
1
Moving Coil
47 (8)
(70)
55
(
1
)
(
1
0
0
)
1
9
G
a
p
1
0
.
3
1
5
1
5
1
0
3

M
a
x
.

(
P
r
e
s
h
i
p
m
e
n
t
)
7
1
.
5
0
.
1
(
P
r
e
s
h
i
p
m
e
n
t
)
*
7
0
0
.
3
*700.3
62
+0.6
0
(54) 39
0
-0.2 L2
54
L1
-0.1
-0.3
(12)
9
.
9
9.9
*2.40.3
3
4
.
5
L2
54
(30.6)
(54)
R
6
(30.6)
33
0
-0.2
8
7
3
4
.
5
*2.40.3
R
0
.
5

M
a
x
.
3
4
Nameplate
Spacers: Do not remove them until the moving
coil is mounted on the machine.
R
1

M
a
x
.
Mount the magnetic
way so that its corner
surfaces are flush with
the inner step.
Mount the magnetic
the inner step.
173
Magnetic Way Model
SGLTM-
L1 L2 L3 L4 L5 N1 N2
Approx. Mass
kg
35324AY 324 270 310 162 162 6 2 6.4
35540AY 540 486 526 378 189 10 3 11
35756AY 756 702 742 594 198 14 4 15
Gap
Base
3
4
.
5
1
5
2.40.3
(54)
9
.
9
2.40.3
L5
L4
L3
1
3
2
1
1
6
8
7
0
.
8
0
.
3
1
9
.
2
0
.
3
7
0
(54)
9
.
9
3
4
.
5
13 L2
54
162 74
74
1
54
L2
-0.1
-0.3 L1
6
0
(
1
0
0
)
15
55
(85)
(70)
1
1
5
1
5
S / N
O / N
T Y P E : M A D E I N J A P A N D A T E
Y A S K A W A
S/N
O/N
YASKAWA
Moving Coil
2 N2-10 Dia.
Mounting Holes (See the sectional view for the depth.)
2 N1-M6
Bolts, Depth 16
13
20
14
20
0
.
8
Linear Servomotors
SGLTW
Linear
L
i
n
e
a
r

S
e
r
v
o
m
o
t
o
r
s
174
3Moving Coil: SGLTW-40B (With an MS connector)
Hall Sensor
Linear Servomotor
below.
Receptacle type: MS3102A-22-22P
by DDK Ltd.
L-shaped plug type : MS3108B22-22S
Straight plug type : MS3106B22-22S
Cable clamp type : MS3057-12A
Pin Connector:
17J E-23090-02 (D8C)
by DDK Ltd.
Socket Connector:
17J E-13090-02 (D8C)
Stud: 17L-002C or
17L-002C1
Moving Coil Model
SGLTW-
L1 L2 (L3) N
Approx. Mass
kg
40400B 395 360(606) (15) 14 15
40600B 575 540(60 9) (15) 20 22
50 500
N
m/s
Linear SERVO MOTOR
ins. DATE
S/N
O/N
V
AW
MADE IN JAPAN
YASKAW
A ELECTRIC
TYPE
75
(
4
.
2

D
i
a
.
)
(83)
78
16
(L3) 20
63 L1
L2
40 60
64 Min.
(
1
9
.
1
)
(
1
1
1
.
8
)
9
7
1
3
0
3
8
9
8
1
2
4
1
5
0
(
1
9
.
1
)
(
2
5
.
3
W
i
t
h

M
a
g
n
e
t

C
o
v
e
r
)
(
2
5
.
1
W
i
t
h
o
u
t

M
a
g
n
e
t

C
o
v
e
r
)
(
G
a
p

1
.
2
W
i
t
h

M
a
g
n
e
t

C
o
v
e
r
)
(
G
a
p

1
.
4
W
i
t
h
o
u
t

M
a
g
n
e
t

C
o
v
e
r
)
Magnetic Way
Receptacle
Hall Sensor
2-Screws
#4-40 UNC
Nameplate
Pin No. Signal
A Phase U
B Phase V
C Phase W
D Ground
9 6
1 5
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
Electrical Angle
(

)
Inverse
Power
(
V
)
Pin No. Signal
1 +5VDC
2 Phase U
3 Phase V
4 Phase W
5 0V
6 Not used
7 Not used
8 Not used
9 Not used
175
R
0
.5
M
a
x
.
R
1
M
a
x
.
YASKAWA
TYPE: MADE I
S/N
O/N
T Y P E :
Y A S K A W A S / N
O / N
M A D E I N J A P A ND A T E
2N-M8 Screws, Depth 10
TYPE:
YASKAWA S/N
O/N
MADE IN JAPAN
C
1
(67.5)
52.5
-0.2
0
L2
67.5
L1-0.3
-0.1
(7.6)
*
1.40.3
3
9
2N-9 Dia. Mounting Holes (See the sectional view for the depth.)
Moving Coil
Assembly Dimensions
*
111.80.3
100
+0.6
0
48
(15)
(83)
63
(
1
.
4
)
(
1
5
0
)
2
5
.
1
G
a
p

1
.
4
0
.
3
1
9
.
1
1
9
.
1
1
5
3

M
a
x
.
(
P
r
e
s
h
i
p
m
e
n
t
)
1
1
3
1
(
P
r
e
s
h
i
p
m
e
n
t
)
*
1
1
1
.
8
0
.
3
L2
67.5
(36.1)
(67.5)
(36.1)
37.5
-0.2
0
1
3
1
1.40.3
(67.5)
L2
67.5
5
.
6
L1
-0.3
-0.1
15
-0.2
0
3
9
4
5.6
6 Nameplate
Mount the magnetic
way so that its
corner surfaces are
step.
Mount the magnetic
way so that its
corner surfaces are
step.
Magnetic Way Model
SGLTM-
L1
-0.1
-0.3
L2 N
Approx. Mass
kg
40405A 405 337.5 (67.55) 6 9
40675A 675 607.5 (67.59) 10 15
40945A 945 877.5 (67.513) 14 21
Linear Servomotors
SGLTW
Linear
L
i
n
e
a
r

S
e
r
v
o
m
o
t
o
r
s
176
Gap
Base
(1.40.3)
-0.3
-0.1
L1
(12.5) L3 5
25
L2 (67.5)
67.5
5
.
6
(202.5) 92.5 L4
L5 92.5 (17.5)
1
7
0
1
9
0
1
3
1
2
0
3
9
0.3 1.4
(83)
(103)
1
(
1
.
2
)
9
0
1
9
.
1
2
5
.
3
0
.
3
1
1
1
.
8
0
.
3
1
.
2
5
.
6
3
9
12.5 25 (67.5)
67.5
L2
63
20
1
9
.
1
(
1
5
0
)
S / N
O / N
M A D E I N J A P A N D A T ET Y P E :
Y A S K A W A
S/N
O/N
MADE IN JAPAN DATE TYPE:
YASKAWA
Moving Coil
2 N2 -12 Dia. Mounting Holes
2 N1 - M8 Screws, Depth 10
2 N1-M8 Bolts, Depth 25
Magnetic Way Model
SGLTM-
L1 L2 L3 L4 L5 N1 N2
Approx. Mass
kg
40405AY 405 337.5 387.5 202.5 202.5 6 2 13
40675AY 675 607.5 657.5 472.5 236.25 10 3 21
40945AY 945 877.5 927.5 742.5 247.5 14 4 30
177
Moving Coil Model
SGLTW-
L1 L2 L3 N
Approx. Mass
kg
80400B 395 360(606) (15) 14 24
80600B 575 540(609) (15) 20 35
2
5
.
3
W
i
t
h

M
a
g
n
e
t

C
o
v
e
r
2
5
.
1
W
i
t
h
o
u
t

M
a
g
n
e
t

C
o
v
e
r
G
a
p

1
.
2
W
i
t
h

M
a
g
n
e
t

C
o
v
e
r
G
a
p

1
.
4
W
i
t
h
o
u
t

M
a
g
n
e
t

C
o
v
e
r
Magnetic Way
Receptacle
Hall Sensor
#4-40 UNC
2-Screws
50 500
75
4
.
2

D
i
a
.
L3
L1
L2
63
20
60 40
120
115
16
64 Min.
3
0
3
8
9
8
1
2
4
1
5
0
9
7
1
9
.
1
1
1
1
.
8
1
9
.
1
m/s
Linear SERVO MOTOR
ins. DATE
S/N
O/N
V
AW
MADE IN JAPAN
YASKAW
A ELECTRIC
TYPE
1
Nameplate
3Moving Coil: SGLTW-80B (With an MS connector)
9 6
1 5
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
Electrical Angle
(

)
Inverse
Power
(
V
)
Hall Sensor
Linear Servomotor
below.
Receptacle type: MS3102A-22-22P
by DDK Ltd.
L-shaped plug type : MS3108B22-22S
Straight plug type : MS3106B22-22S
Cable clamp type : MS3057-12A
Pin Connector:
17J E-23090-02 (D8C)
by DDK Ltd.
Socket Connector:
17J E-13090-02 (D8C)
Stud: 17L-002C or
17L-002C1
Pin No. Signal
A Phase U
B Phase V
C Phase W
D Ground
Pin No. Signal
1 +5VDC
2 Phase U
3 Phase V
4 Phase W
5 0V
6 Not used
7 Not used
8 Not used
9 Not used
Linear Servomotors
SGLTW
Linear
L
i
n
e
a
r

S
e
r
v
o
m
o
t
o
r
s
178
S / N
O / N
Y A S K A W A
TYPE:
YASKAWA
MADE IN JAPAN
S/N
O/N
2N2-9 Dia. Mounting Holes (See the sectional view for the depth.)
Assembly Dimensions
TYPE:
YASKAWA S/N
O/N
MADE IN JAPANDATE
C
1
C
1
Moving Coil
85 (15)
(120)
100
(
1
.
4
)
(
1
5
0
)
2
5
.
1
G
a
p

1
.
4
0
.
3
1
9
.
1
1
9
.
1
1
5
3

M
a
x
.
(
P
r
e
s
h
i
p
m
e
n
t
)
*
1
1
1
.
8
0
.
3
1
1
3
1
(
P
r
e
s
h
i
p
m
e
n
t
)
R
0
.
5

M
a
x
. R
1
M
a
x
.
*
111.80.3
100 0
+0.6
(67.5)
50.6-0.2
0
L2
67.5
L1
-0.3
-0.1
(11.3)
*
1.50.3
5
7
L3
33.75
(37.9)
(37.9)
(67.5)
R
7
39.4-0.2
0
-0.2
0
1
3
1
*
1.50.3
(67.5)
L2
67.5
5
.
6
L1-0.3
-0.1
16.9
5
7
4
5.6
6
Nameplate
Mount the magnetic
way so that its
corner surfaces are
step.
Mount the magnetic
way so that its
corner surfaces are
step.
Magnetic Way Model
SGLTM-
L1
-0.1
-0.3
L2 L3 N1 N2
Approx. Mass
kg
80405A 405 337.5(67.55) 337.5(33.7510) 6 11 14
80675A 675 607.5(67.59)
607.5(33.7518) 10 19 24
80945A 945 877.5(67.513)
887.5(33.7526) 14 27 34
179
Moving Coil
Gap
Base
67.5
33.75
(67.5)
L2 25 14.4
(17.5)
(202.5) L4 92.5
92.5 L5
33.75
(67.5)
(14.4)
-0.3
-0.1
L1
3.1 L3
25
L2
67.5
2
0
5
7
(1.50.3)
5
.
6
1
9
0
1
7
0
1
3
1
0.3 1.5
(120)
(140)
0
.
3
1
.
2
(
1
.
2
)
2
5
.
3
0
.
3
1
1
1
.
8
5
7
9
0
1
5
.6
100
20
1
9
.
1
1
9
.
1
(
1
5
0
)
S / N
O / N
Y A S K A W A
S/N
O/N
MADE IN JAPAN DATE TYPE:
YASKAWA
2 N2 - 12 Dia. Mounting Holes
2 N3-M8 Bolts, Depth 25
Magnetic Way Model
SGLTM-
L1 L2 L3 L4 L5 N1 N2 N3
Approx. Mass
kg
80405AY 405 337.5 387.5 202.5 202.5 6 2 11 18
80675AY 675 607.5 657.5 472.5 236.25 10 3 19 31
80945AY 945 877.5 927.5 742.5 247.5 14 4 27 43
Linear Servomotors
SGLTW
Linear
L
i
n
e
a
r

S
e
r
v
o
m
o
t
o
r
s
180
3Moving Coil: SGLTW-35AH (With a connector by Tyco Electronics AMP K.K.)
Moving Coil Model
SGLTW-
L1 L2 (L3) N
Approx. Mass
kg
35A170H 170 144 (483) (16) 8 4.7
35A320H 315 288 (486) (17) 14 8.8
(5) High-efficiency Type SGLTW-35AH
TYPE YASKAWA ELECTRIC
MADE IN JAPAN
W A
V
O/N
S/N
DATEins.
Linear SERVO M
OTOR
m/s
N
12
1
6
0
2
8
3
0
62.5
66
(70)
(L3)
(
4
.
2

D
i
a
.
)
(
9
0
)
(
1
5
)
(
1
5
)
(
G
a
p
0
.
8

:
W
i
t
h

M
a
g
n
e
t

C
o
v
e
r
)
(
G
a
p
1
.
0

:
W
i
t
h
o
u
t

M
a
g
n
e
t

C
o
v
e
r
)
(
1
9
.
2

:
W
i
t
h

M
a
g
n
e
t

C
o
v
e
r
)
(
1
9

:
W
i
t
h
o
u
t

M
a
g
n
e
t

C
o
v
e
r
)
3
0
8
0
0
.
0
5
1
2
0
0
.
1
50050
35
43
63 Min.
5
0
0
5
0
2
0
0
.
1
Nameplate
Magnetic Way
Hall Sensor
Protective Tube
Cable
UL20276, AWG28
2-Screws
#4-40 UNC
1
0
0
0
.
1
5
480.15 20
10
30 L1
N-M6 Screws, Depth 12
L2
Hall Sensor
Pin Connector:
17JE-23090-02 (D8C)
by DDK Ltd.
Socket Connector:
17JE-13090-02 (D8C)
Stud: 17L-002C or
17L-002C1
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
di recti on i ndi cated by the arrow i n the
below.
9 6
1 5
Phase U
Ground
Phase V
Phase W
(View from Top of Moving Coil)
If this cable is bent repetitively, the cable
will disconnect.
Lead Specifications of Moving Coil
Electrical Angle
(

)
Inverse
Power
(
V
)
Pin No. Signal
1 +5VDC
2 Phase U
3 Phase V
4 Phase W
5 0V
6 Not used
7 Not used
8 Not used
9 Not used
Name Color Code
Wire
Size
Phase U
Black
U
2 mm
2
Phase V V
Phase W W
Ground Green 2 mm
2
181
3Moving Coil: SGLTW-35DHD (With a connector by Interconnectron GmbH)
Moving Coil Model
SGLTW-
L1 L2 (L3) N
Approx. Mass
kg
35D170HD 170 144(483) (16) 8 4.7
35D320HD 315 288(486) (17) 14 8.8
MADE IN JAPAN
W A
V
O/N
S/N
DATEins.
Linear SERVO M
OTOR
m/s
N
12
1
6
0
2
8
3
0
62.5
66
(70)
(L3)
(
4
.
2

D
ia
.
)
(
9
0
)
(
1
5
)
(
1
5
)
(
G
a
p
0
.
8

:
W
i
t
h

M
a
g
n
e
t

C
o
v
e
r
)
(
G
a
p
1
.
0

:
W
i
t
h
o
u
t

M
a
g
n
e
t

C
o
v
e
r
)
(
1
9
.
2

:
W
i
t
h

M
a
g
n
e
t

C
o
v
e
r
)
(
1
9

:
W
i
t
h
o
u
t

M
a
g
n
e
t

C
o
v
e
r
)
3
0
8
0
0
.
0
5
1
2
0
0
.
1
50050
50050
35
43
63 Min.
2
0
0
.
1
Nameplate
Magnetic Way
Hall Sensor
Cable
UL20276,AWG28
2-Screws
#4-40 UNC
1
0
0
0
.
1
5
480.15 20
10
30 L1
L2
Protective tube
9 6
1 5
6
5
4
1
2
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
Electrical Angle
(

)
Inverse
Power
(
V
)
Hall Sensor
Linear Servomotor
below.
Extension : ARRA06AMRPN182
Pin : 021.279.1020
Socket : 020.105.1020
Pin Connector:
17J E-23090-02 (D8C)
by DDK Ltd.
Socket Connector:
17J E-13090-02 (D8C)
Stud: 17L-002C or
17L-002C1
Pin No. Signal
1 Phase U
2 Phase V
4 Phase W
5 Not used
6 Not used
Ground
Pin No. Signal
1 +5VDC
2 Phase U
3 Phase V
4 Phase W
5 0V
6 Not used
7 Not used
8 Not used
9 Not used
Linear Servomotors
SGLTW
Linear
L
i
n
e
a
r

S
e
r
v
o
m
o
t
o
r
s
182
3Magnetic Way: SGLTM-35H
Magnetic Way Model
SGLTM-
L1
-0.1
-0.3
L2 N
Approx. Mass
kg
35324H 324 270 (545) 6 4.8
35540H 540 486 (549) 10 8
35756H 756 702 (5413) 14 11
R
1

M
a
x
.
R
0
.5
M
a
x
.
3
82
*900.3
+0.6
0
0
-0.2
(
1
2
0
)
(70)
(
0
.
8
)
47
0
.
8
0
.
3
4
.
2
0
.
1
1
5
0
.
1
*
9
0
0
.
3
9
1
.
5
1
(
P
r
e
s
h
i
p
m
e
n
t
)
1
2
3

M
a
x
.

(
P
r
e
s
h
i
p
m
e
n
t
)1
5
0
.
1
(8)
Moving Coil
55
C
1
C
1
Gap
9
.
9
9
.
9
*2.40.3
*2.40.3
3
4
.
5
1
0
7
3
4
.
5
(12)
L2
39
-0.1
-0.3 L1
(54)
(
4
)
54
Spacer: Do not remove them until the moving
YASKAWA
TYPE:
O/N
S/N
MADE IN JAPAN DATE
O / N
S / N
M A D E I N J A P A N D A T E
Y A S K A W A
T Y P E :
(30.6)
R
6
Model
Nameplate
54
(54)
54
54
L2
L2 15
L1
30.6 33
0
-0.2
0
-0.2
-0.1
-0.3
Assembly Dimensions
Mount the magnetic
the inner step.
Mount the magnetic
the inner step.
183
3Moving Coil: SGLTW-50AH (With a connector by Tyco Electronics AMP K.K.)
(6) High-efficiency Type SGLTW-50
MADE IN JAPAN
W A
V
O/N
S/N
DATEins.
Linear SERVO MOTOR
m/s
N
Hall Sensor
Pin Connector:
17JE-23090-02 (D8C)
by DDK Ltd.
Socket Connector:
17JE-13090-02 (D8C)
Stud: 17L-002C or
17L-002C1
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
below.
9 6
1 5
Phase U
Ground
Phase V
Phase W
(View from Top of Moving Coil)
If this cable is bent repetitively, the cable
will disconnect.
Lead Specifications of Moving Coil
2
8
3
0
1
(
4
.
1
)
(
4
.
2

D
i
a
.
)
(
9
0
)
(85)
(
1
9
.
1
)
(
G
a
p
0
.
8

:

W
i
t
h

M
a
g
n
e
t

C
o
v
e
r
)
(
G
a
p
1
.
0

:

W
i
t
h
o
u
t

M
a
g
n
e
t

C
o
v
e
r
)
(
2
3
.
3

:

W
i
t
h

M
a
g
n
e
t

C
o
v
e
r
)
(
2
3
.
1

:

W
i
t
h
o
u
t

M
a
g
n
e
t

C
o
v
e
r
)
8
0
0
.
0
5
1
2
0
0
.
1
50050
35
43
63 Min.
2
0
0
.
1
Nameplate
Magnetic Way
Hall Sensor
Hall Sensor
End Connector
Cable
UL20276, AWG28
2-Screws
#4-40 UNC
5
0
0
5
0
Protective Tube
1
0
0
0
.
1
5
(L3)
480.15 20
10
30 L1
L2
(
1
9
.
1
)
12
6
0
81
62.5
Electrical Angle
(

)
Inverse
Power
(
V
)
Pin No. Signal
1 +5VDC
2 Phase U
3 Phase V
4 Phase W
5 0V
6 Not used
7 Not used
8 Not used
9 Not used
Name Color Code
Wire
Size
Phase U
Black
U
2 mm
2
Phase V V
Phase W W
Ground Green 2 mm
2
Moving Coil Model
SGLTW-
L1 L2 (L3) N
Approx. Mass
kg
50A170H 170 144 (483) (16) 8 6
50A320 315 288 (486) (17) 14 11
Linear Servomotors
SGLTW
Linear
L
i
n
e
a
r

S
e
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v
o
m
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t
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s
184
Moving Coil Model
SGLTW-
L1 L2 (L3) N
Approx. Mass
kg
50D170HD 170 144(483) (16) 8 6
50D320HD 315 288(486) (17) 14 11
MADE IN JAPAN
W A
V
O/N
S/N
DATEins.
Linear SERVO MOTOR
m/s
N
2
8
3
0
1
(
4
.
1
)
(
4
.
2

D
i
a
.
)
(
9
0
)
(85)
(
1
9
.
1
)
(
G
a
p
0
.
8

:
W
i
t
h

M
a
g
n
e
t

C
o
v
e
r
)
(
G
a
p
1
.
0

:
W
i
t
h
o
u
t

M
a
g
n
e
t

C
o
v
e
r
)
(
2
3
.
3

:
W
i
t
h

M
a
g
n
e
t

C
o
v
e
r
)
(
2
3
.
1

:
W
i
t
h
o
u
t

M
a
g
n
e
t

C
o
v
e
r
)
8
0
0
.
0
5
1
2
0
0
.
1
50050
35
43
63 Min.
2
0
0
.
1
Nameplate
Magnetic Way
Hall Sensor
Cable
UL20276,AWG28
2-Screws
#4-40 UNC
1
0
0
0
.
1
5
(L3)
480.15 20
10
30 L1
L2
(
1
9
.
1
)
12
6
0
81
62.5
50050
Protective tube
3Moving Coil: SGLTW-50DHD (With a connector by Interconnectron GmbH)
9 6
1 5
6
5
4
1
2
Vu
Vv
Vw
Su
Sv
Sw
0 180 360 540
Electrical Angle
(

)
Inverse
Power
(
V
)
Hall Sensor
Linear Servomotor
below.
Extension : ARRA06AMRPN182
Pin : 021.279.1020
Socket : 020.105.1020
Pin Connector:
17J E-23090-02 (D8C)
by DDK Ltd.
Socket Connector:
17J E-13090-02 (D8C)
Stud: 17L-002C or
17L-002C1
Pin No. Signal
1 Phase U
2 Phase V
4 Phase W
5 Not used
6 Not used
Ground
Pin No. Signal
1 +5VDC
2 Phase U
3 Phase V
4 Phase W
5 0V
6 Not used
7 Not used
8 Not used
9 Not used
185
3Magnetic Way: SGLTM-50H
Magnetic Way Model
SGLTM-
L1
-0.1
-0.3
L2 N
Approx. Mass
kg
50324H 324 270 (545) 6 8
50540H 540 486 (549) 10 13
50756H 756 702 (5413) 14 18
R
1

M
a
x
.
R
0
.5
M
a
x
.
3
82
*900.3
+0.6
0
(
1
2
0
)
(
4
.
1
)
(85)
(
0
.
8
)
62
0
.
8
0
.
3
4
.
2
0
.
1
1
9
.
1
0
.
1
*
9
0
0
.
3
9
1
.
5
1
(
P
r
e
s
h
i
p
m
e
n
t
)
1
3
1

M
a
x
.

(
P
r
e
s
h
i
p
m
e
n
t
)1
9
.
1
0
.
1
(8)
Moving Coil
70
C
1
C
1
Gap
(
4
)
Spacers: Do not remove them until the moving
2 N-7 Dia. Mounting Holes
YASKAWA
TYPE:
O/N
S/N
MADE IN JAPAN DATE
(54) 45
L2
L1
0
-0.2
0
-0.2
0
-0.2
-0.1
-0.3
L1
-0.1
-0.3
54
1
1
2
4
2
4
2
1
2

D
i
a
.
(54)
(54)
54
L2 9
(27)
54
27 L2
Assembly Dimensions
Model
Nameplate
O / N
S / N
M A D E I N J A P A N D A T E
Y A S K A W A
T Y P E :
Mount the magnetic
the inner step.
Mount the magnetic
the inner step.
Linear Servomotors
SGLTW
Linear
L
i
n
e
a
r

S
e
r
v
o
m
o
t
o
r
s
186
1Cables
Name
Applicable Linear
Servomotor Model
Linear Servomotor
Main Circuit Cables
SGLTW
-20, -35, -50
(1)
SGLTW-40,-80
(2)
SGLTW-
AD
(3)
SGLTW-
DD
(4)
Linear Scale
(To be provided
by users)
Hall Sensor Unit
Cable for Connecting Hall Sensor
Serial
Converter Unit
(See page 202.)
Encoder Cable
Linear Servomotor
SGDV
SLRVOPAOK
1Cables Connections
Selecting Cables
*1
*2
*3
*3
(contd)
*2: MS connector
187
Selecting Cables
(1) Linear Servomotor Main Circuit Cables: J ZSP-CLN21--E 3 Wiring Specifcations
1
2
3
4
Connector
FG
Phase W
Phase V
Phase U
FG
Phase W
Phase V
Phase U
Green/yellow
Blue
White
Red
SERVOPACK-end Leads
U
V
W
G
Cable (UL2570)
AWG14/4C
50 mm
L 35 mm
Cap : 350780-1 (4-pole)
M4 Crimped
Terminal
Wire Markers
8.5 mm
14.7
1
4
7.6
2
7
.
7
SERVOPACK End
A connector is not provided on the linear-servomotor end of the main circuit cable (J ZSP-CLN39--E).
This connector is provided by the customer.
3 Wiring Specifcations
Cable (UL2570)
AWG11/4C
L 35 mm 2 mm
8.5 mm
U
V
W
G
50 mm
M4 Crimped
Terminal
Wire Markers
Name
Applicable Linear
Servomotor Model

Linear Scales*
All models
(5)
Cables for Connecting Serial

Converter Units
All models
(6)

Sensors
All models
(7)
Linear Scale End
Serial Converter
Unit End
Serial Converter
Unit End
Hall Sensor
Unit End
Serial Converter
Unit End SERVOPACK End
1
2
3
4
Connector
FG
Phase W
Phase V
Phase U
FG
Phase W
Phase V
Phase U
Green/yellow
Blue
White
Red
SERVOPACK-end Leads
* When using serial converter unit J ZSP-GD00 - -E, the maximum cable length is 3 m.
Linear Servomotors
SGLTW
Linear
L
i
n
e
a
r

S
e
r
v
o
m
o
t
o
r
s
188
1J ZSP-CLN39 Cable Connectors
J W
A
V
Y Q
L
(a) MS3106B: Straight Plug with Front-shell and Back-shell Separated
Applicable Linear
Servomotor Model
Attached Connector
Plug
Cable Clamp
Straight Straight L-shaped
SGLTW-40, -80 MS3102A22-22P
MS3106B22-22S
or MS3106A22-22A
MS3108B22-22S MS3057-12A
Shell
Size
J oint Screw
A
J oint
Length
J 0.12
Max.
Overall
Length L
Outer
Diameter of
Nut
Q
+0
-0.38
Cable
Clamp
Mounting
Screw V
Min.
Effective
Screw
Length W
Max.
Width
Y
22
1 3/8
-18UNEF
18.26 55.57 40.48
1 3/16
-18UNEF
9.53 50
Shell
Size
J oint
Screw
A
J oint
Length
J 0.12
Max.
Overall
Length L
R
0.5
U
0.5
Outer
Diameter
of Nut
Q
+0
-0.38
Cable
Clamp
Mounting
Screw V
Min.
Effective
Screw
Length W
22
1 3/8
-18UNEF
18.26 76.98 24.1 33.3 40.48
1 3/16
-18UNEF
9.53
U
R
W
J
A
Q
L
V
(c) MS3108B: L-shaped Plug with Front-shell and Back-shell Separated
(b) MS3106A: Straight Plug with Solid Shell
Shell
Size
J oint Screw
A
J oint
Length
J 0.12
Overall
Length
L0.5
Outer
Diameter of
Nut
Q
+0
-0.38
Outer
Diameter
N0.5
Cable
Clamp
Mounting
Screw V
Min.
Effective
Screw
Length W
22
1 3/8
-18UNEF
18.26 54 40.48 34.99
1 3/16-
18UNEF
9.53
A
L
J
Q
W
N
V
(d) MS3057-12A: Cable Clamp with Rubber Bushing
G
H (Movable Range
on One Side)
E Dia.
(Cable Clamp
Inner Diameter)
J Dia. (Bushing Inner Diameter)
A
V
Q
1.6
C
Applicable
Shell Size
Overall
Length
A0.7
Effective
Screw
Length C
E G0.7 H J
Mounting
Screw
V
Outer
Diameter
Q0.7
Rubber
Bushing
Type
20, 22 23.8 10.3 19.0 37.3 4.0 15.9
1 3/16
-18UNEF
35.0
AN3420
-12
Units: mm
Units: mm
Units: mm
Units: mm
Selecting Cables
189
Selecting Cables
U
V
W
G
50 mm 51 mm
28 Dia.
L
M4 Crimped
Terminal
Wire Markers
Cable (UL2464)
AWG18/4C
SPUC06KFSDN236
8.5 mm
SERVOPACK End
1
2
3 4
5
P 6
SERVOPACK End
1
2
3
4
5
6
Connector
FG
Phase W
Phase V
Phase U
FG
Phase W
Phase V
Phase U
Green / yellow
Black (White 1)
Black (White 2)
Black (White 3)
SERVOPACK-end Leads
1
2
3
4
5
6
Connector
FG
Phase W
Phase V
Phase U
FG
Phase W
Phase V
Phase U
Green / yellow
Red
White
Black
SERVOPACK-end Leads
3Wiring Specifcations
Linear Scale End Serial Converter unit End
1
8
9
15
1
8
9
15
Connector
17JE-23150-02 (D8C)
(15-pinsoldered)
by DDK Ltd.
Connector
17JE-13150-02 (D8C)
(With stud)
(15-pinsoldered)
by DDK Ltd.
L
Cable (UL2584)
(AWG223C+AWG256P)
Signal Pin No.
1
2
3
4
5
7
8
9
10
11
12
13
14
15
Case
6
/CosV1-
/SinV2-
Ref V0+
/Ref V0+
+5V
0V
0Vs
DIR
Inner
Shield
5Vs
BID
Vx
Vq
CosV1+
SinV2+
Linear Scale End
Signal Pin No.
1
2
3
4
5
7
8
9
10
11
12
13
14
15
Case
6
/CosV1-
/SinV2-
Ref V0+
/Ref V0-
+5V
0V
0Vs
DIR
Inner
Shield
5Vs
BID
Vx
Vq
CosV1+
SinV2+
M4 Crimped
Terminal
Wire Markers
Cable
(UL2570)
AWG14/4C
APRA06BFRDN170
U
V
W
G
50 mm 61 mm L 8.5 mm
5
6
4
2
1
27.2 Dia.
Linear Servomotors
SGLTW
Linear
L
i
n
e
a
r

S
e
r
v
o
m
o
t
o
r
s
190
Selecting Cables
L
Connector:
55100-0670
(6-pin, soldered)
Connector:
17JE-23090-02 (D8C)
(9-pin, soldered)
by DDK Ltd.
Cable (UL20276)
(AWG222C+AWG242P)
Hall Sensor End
1
5
6
9
1
5
6
9
L
Connector:
17JE-23090-02 (D8C)
(9-pin, soldered)
by DDK Ltd.
Connector:
17JE-13090-02 (D8C)
(With stud)
(9-pin, soldered)
by DDK Ltd.
Cable (UL20276)
(AWG222C+AWG242P)
1
2
3
4
5
6
Shell
Light blue
Light blue/white
Red
Black
PG5V
PG0V
PS
/PS
Shield
SERVOPACK End
1
5
3
4
2
6
7
8
9
Case
Light blue
Light blue/white
Red
Black
+5V
0V
Phase S output
Phase /S output
Shield
Signal Pin No.
1
2
3
4
5
7
8
9
6
+5V
Phase U input
Phase V input
Phase W input
0V
+5V
Phase U input
Phase V input
Phase W input
0V
Hall Sensor End
Signal Pin No.
1
2
3
4
5
7
8
9
Case
6
Shield Case Shield
1Characteristics and Specifications
Items J ZDP-D00--E J ZDP-G00--E
E
l
e
c
t
r
i
c
a
l

C
h
a
r
a
c
t
e
r
i
s
t
i
c
s
Power Supply Voltage +5.0V5%, ripple content 5% max.
Current Consumption
*1
120 mA Typ. 350 mA max.
Signal Resolution Input two-phase sine wave: 1/256 pitch Input two-phase sine wave: 1/4096 pitch
Max. Response Frequency 250 kHz 100 kHz
Analog lnput Signals
*2
(cos, sin, Ref)
Differential input amplitude: 0.4 to 1.2 V
Input signal level: 1.5 to 3.5 V
Hall Sensor lnput Signal CMOS level
Output Signals
*3
Position data, hall sensor information, and alarms
Output Method Serial data transmission
Output Circuit
Balanced transceiver (SN75LBC176 or the equivalent)
Internal terminal resistance: 120
M
e
c
h
a
n
i
c
a
l

C
h
a
r
a
c
t
e
r
i
s
t
i
c
s
Approx. Mass 150 g
Vibration Resistance 98 m/s
2
max. (10 to 2500 Hz) in three directions
Impact Resistance 980 m/s
2
, (11 ms) two times in three directions
E
n
v
ir
o
n
m
e
n
t
a
l
C
o
n
d
it
io
n
s
Ambient Temperature 0 to 55C
Storage Temperature -20 to +80C
Humidity 20% to 90% RH (no condensation)
*1: The current consumption of the linear scale and hall sensor is not included in this value.
The current consumption of linear scale and hall sensor must be taken into consideration for the current capacity of host
controller that supplies the power. The current consumption of hall sensor: Approx. 40 mA.
*2: Input a value within the specified range. Otherwise, incorrect position information is output, and the device may be
damaged.
*3: The power is turned on, and the transmission is enabled after 100 ms to 300 ms.
Serial Converter Unit (Model: J ZDP-00--E)
Linear Servomotor General Instructions
191
Serial Converter Unit Model
Code Appearance
Applicable Linear
Scale
Hall Sensor
D003
Manufactured by
HEIDENHAIN Corp.
None
G003
D005
Manufactured by
RENISHAW plc.
None
G005
D006
Manufactured by
HEIDENHAIN Corp.
Provided
G006
D008
Manufactured by
RENISHAW plc.
Provided
G008
Applicable Linear Servomotor
Servomotor Model Symbol Servomotor Model Symbol
SGLGW-
(Coreless)
When a
standard-
force
magnetic
way is used.
30A050C 250
SGLTW-
(Iron core,
T-type)
20A170A 011
30A080C 251 20A320A 012
40A140C 252 20A460A 013
40A253C 253 35A170A 014
40A365C 254 35A320A 015
60A140C 258 35A460A 016
60A253C 259 35A170H 105
60A365C 260 35A320H 106
90A200C 264 50A170H 108
90A370C 265 50A320H 109
90A535C 266 40A400B 185
SGLGW-
+
SGLGM-
-M
(Coreless)
When a
high-force
magnetic way
is used
40A140C 255 40A600B 186
40A253C 256 80A400B 187
40A365C 257 80A600B 188
60A140C 261 35D170H 193
60A253C 262 35D320H 194
60A365C 263 50D170H 195
SGLFW-
(Iron core,
F-type)
20A090A 017 50D320H 196
20A120A 018 40D400B 197
35A120A 019 40D600B 198
35A230A 020 80D400B 199
50A200B 181 80D600B 200
50A380B 182
1ZA200B 183
1ZA380B 184
35D120A 211
35D230A 212
50D200B 189
50D380B 190
1ZD200B 191
1ZD380B 192
J ZDP - 00 - - E
1Model Designations
Non-Stock Items
Global Stock Items
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Linear Servomotors
Linear
192
IMPORTANT
1Analog Signal Input Timing
The following figure shows the input timing of the analog signals.
When the cos and sin signals are shifted 180 degrees, the differential signals are the /cos and /sin signals.
The specifications of the cos, /cos, sin, and /sin signals are identical except for the phase.
Input the signals Ref and /Ref so that they shall cross each other as shown in the figure because they are input into the
converter. When they are crossed, the output data will be counted up.
100%
45
5% to 75% 5% to75%
0
.
2

V

M
i
n
.
0
.
2

V

M
i
n
.
Zero Point
Count Up Direction
0
.
2

t
o

0
.
6

V

*
cos
(A+)
/cos
(A)
sin
(B+)
/sin
(B)
/Ref
(R)
Ref
(R+)
cos/cossin/sin
Input Voltage Range:
1.5 to 3.5 V
Ref/Ref
1.5 to 3.5 V
*:If the analog signal amplitude declines to about 0.35 V because of differential amplitude, the serial converter outputs an alarm.
Precautions
1 Never perform insulation resistance and withstand voltage tests.
2 When analog signals are input to the serial converter unit, noise influence on the analog signals affects
the units ability to output correct position information. The analog cable must be as short as possible and
shielded.
3 Use the serial converter unit without gases such as H2S.
4 Do not connect or disconnect the unit while power is being supplied, or the unit may be damaged.
5 When using multiple axes, use a shield cable for each axis. Do not use a shield cable for multiple axes.
193
Serial Converter Unit (Model: J ZDP-00--E) Units: mm
1Without Cable for Hall Sensor (For Linear Scale by HEIDENHAIN Corporation)
Serial Converter Unit Model: J ZDP-003--E
(1) Connection Example
SERVOPACK
SGDV-
J ZSP-CLP70--E J ZSP-CLL00--E*
Connection Cable
by HEIDENHAIN Corp.
Linear Scale
by HEIDENHAIN Corp.
J ZDP-003--E
CN2
CN1 CN2
* When using serial converter unit J ZDP-G00--E, the maximum cable length is 3 m.
(2) External Dimensions
820.3
650.3
5
2
0
.
3
6
0
3
3
.
3
2
0
.
4
72
90
1.5
3
14.350.3
2
4
.
9
9
0
.
3
1
0
2
2
.
5
2-#4-40 UNC Tapped Holes
Linear Scale End
Analog Signal Input Connector
(
CN2
)
SERVOPACK End
Serial Data Output Connector
(
CN1
)
Nameplate
4-4.2 Dia. Holes
2-4.2 Dia. Holes
Pin No. Signal
1 +5V
2 Phase S output
3 Not used
4 Not used
5 0V
6 Phase /S output
7 Not used
8 Not used
9 Not used
Case Shield
17-series Connector:
17LE-13090-27-FA
(Socket) by DDK Ltd.
SERVOPACK End
Serial Data Output
9
6
1
5
CN1
Pin No. Signal
1 cos input (A+)
2 0V
3 sin input (B+)
4 +5V
5 Not used
6 Not used
7 /Ref input (R-)
8 Not used
9 /cos input (A-)
10 0V sensor
11 /sin input (B-)
12 5V sensor
13 Not used
14 Ref input (R+)
15 Not used
Case Shield
Linear Scale End
Analog Signal Input
17LE-13150-27-FA
1
8
9
15
CN2
Notes: 1 Do not use the unused pins.
2 Contact HEIDENHAIN Corporation for details of connection cables (analog 1 Vp-p output, D-sub 15-pin, male) by HEIDENHAIN Corporation.
3 Use the same terminal for 5-V sensor and phase-W input.
4 Phase U, V, and W input are internally pulled up at 10 k.
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Linear Servomotors
Linear
194
Pin No. Signal
1 +5V
2 Phase S output
3 Not used
4 Not used
5 0V
6 Phase /S output
7 Not used
8 Not used
9 Not used
Case Shield
Pin No. Signal
1 cos input (V1-)
2 sin input (V2-)
3 Ref input (V0+)
4 +5V
5 5Vs
6 Not used
7 Not used
8 Not used
9 cos input (V1+)
10 sin input (V2+)
11 /Ref input (V0-)
12 0V
13 0Vs
14 Not used
15 inner (0V)
Case Shield
1Without Cable for Hall Sensor (For Linear Scale by Renishaw plc.)
J ZSP-CLL00--E*
Connection Cable
by Renishaw plc.
Linear Scale
by Renishaw plc.
SERVOPACK
J ZDP-005--E
SGDV-
J ZSP-CLP70--E
CN2 CN1 CN2
820.3
650.3
72
90
1.5
3
14.350.4
2
4
.
9
9
0
.
4
2
2
.
5
30030
1
0
5
2
0
.
3
6
0
Linear Scale End
(
CN2
)
SERVOPACK End
(
CN1
)
Nameplate 4-4.2 Dia.Holes
2-4.2 Dia.Holes
17LE-13090-27-FA
SERVOPACK End
Serial Data Output
9
6
1
5
CN1
Linear Scale End
Analog Signal Input
17JE-13150-02 (D8C) A-CG
1
8
9
15
CN2
2 Contact Renishaw plc. for details of connection cables (analog 1 Vp-p output, D-sub 15-pin, male) by Renishaw plc.
However, the BID and DIR signals are not connected.
3 Use the linear scale-end connector to change the zero point specifications of the linear scale.
SERVOPACK does not have the function
to process Vq signals.
195
1With Cable for Hall Sensor (For Linear Scale by HEIDENHAIN Corporation)
Pin No. Signal
1 +5V
2 Phase S output
3 Not used
4 Not used
5 0V
6 Phase /S output
7 Not used
8 Not used
9 Not used
Case Shield
Pin No. Signal
1 cos input (A+)
2 0V
3 sin input (B+)
4 +5V
5 Not used
6 Not used
7 /Ref input (R-)
8 Not used
9 /cos input (A-)
10 0V sensor
11 /sin input (B-)
12 5V sensor
13 Not used
14 Ref input (R+)
15 Not used
Case Shield
2 Contact HEIDENHAIN Corporation for details of connection cables (analog 1 Vp-p output, D-sub 15-pin, male) by HEIDENHAIN Corporation.
Connection Cable
by HEIDENHAIN Corp.
Linear Scale
by HEIDENHAIN Corp.
SERVOPACK
J ZDP-006--E
SGDV-
J ZSP-CLP70--E J ZSP-CLL00--E*
J ZSP-CLL10--E
Hall sensor
CN2
CN2
CN1
CN3
2
2
.
5
820.3
5
2
0
.
3
650.3
72
90
6
0
1
0
1.5
3
14.350.4
2
4
.
9
9
0
.
4
30030
2-4.2 Dia.
Holes
4-4.2 Dia.
Holes Nameplate
Hall Sensor Signal Input Connector
(
CN3
)
SERVOPACK End
(
CN1
)
Linear Scale End
(
CN2
)
Pin No. Signal
1 +5V
2 Phase U input
3 Phase V input
4 Phase W input
5 0V
6 Not used
7 Not used
8 Not used
9 Not used
Case Shield
17LE-13090-27-FA
SERVOPACK End
Serial Data Output
9
6
1
5
CN1
Linear Scale End
Analog Signal Input
17JE-13150-02 (D8C) A-CG
1
8
9
15
CN2
17JE-13090-02 (D8C) A-CG
by DDK Ltd.
Hall Sensor Signal Input
9
6
1
5
CN3
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Linear
196
1With Cable for Hall Sensor (For Linear Scale by Renishaw plc.)
Pin No. Signal
1 +5V
2 Phase S output
3 Not used
4 Not used
5 0V
6 Phase /S output
7 Not used
8 Not used
9 Not used
Case Shield
Pin No. Signal
1 /cos input (V1-)
2 /sin input (V2-)
3 Ref input (V0+)
4 +5V
5 5Vs
6 Not used
7 Not used
8 Not used
9 cos input (V1+)
10 sin input (V2+)
11 /Ref input (V0-)
12 0 V
13 0 Vs
14 Not used
15 Inner
Case Shield
2 Contact Renishaw plc. for details of connection cables (analog 1 Vp-p output, D-sub 15-pin, male) by Renishaw plc.
However, the BID and DIR signals are not connected.
3 Use the linear scale-end connector to change the zero point specifications of the linear scale.
SERVOPACK
J ZDP-008--E
SGDV-
J ZSP-CLP70--E
Connection Cable
by Renishaw plc.
Linear Scale
by Renishaw plc.
J ZSP-CLL00--E*
J ZSP-CLL10--E
Hall Sensor
CN2
CN2
CN1
CN3
2
2
.
5
820.3
5
2
0
.
3
650.3
72
90
6
0
1
0
1.5
3
14.350.4
2
4
.
9
9
0
.
4
30030
2-4.2 Dia.
Holes
4-4.2 Dia.
Holes
Nameplate
Hall Sensor Signal Input Connector
(CN3)
SERVOPACK End
(CN1)
Linear Scale End
(CN2)
Pin No. Signal
1 +5V
2 Phase U input
3 Phase V input
4 Phase W input
5 0V
6 Not used
7 Not used
8 Not used
9 Not used
Case Shield
17LE-13090-27-FA
SERVOPACK End
Serial Data Output
9
6
1
5
CN1
Linear Scale End
Analog Signal Input
17JE-13150-02 (D8C) A-CG
1
8
9
15
CN2
17JE-13090-02 (D8C) A-CG
by DDK Ltd.
Hall Sensor Signal Input
9
6
1
5
CN3
197
Flexible Cables
1Life of Flexible Cable
The flexible cable supports 10,000,000 or more operations of bending life with the recommended bending radius R.
The following table shows the recommended bending radius R of each cable.
Cable Type Model
Recommended Bending
Radius mm
Linear Servomotor Main Circuit Cables
J ZSP-CLN11--E 35
J ZSP-CLN21--E 38
J ZSP-CLN39--E 50
J ZSP-CLN14--E 35
Cables for Connecting Linear Scales J ZSP-CLL00--E 57
Cables for Connecting Hall Sensors J ZSP-CLL10--E 46
Cables for Connecting Serial Converter Units J ZSP-CLP70--E 46
1Conditions
1 Repeat moving one end of the cable forward and backward for 320 mm with using the test equipment shown in the following
figure.
2 Connect the lead wires in parallel, and count the number of cable return motion times until a lead wire is disconnected. Note
that one reciprocating is counted as one test.
2 The life of flexible cable indicates the number of bending times in which lead wires are electrically conducted and by which no cracks and damages that affects the
Bending
Radius
R
Fixed End
Shifting End
1Wiring Precautions
Even if the recommended bending radius R is respected in the mechanical design, incorrect wiring may cause early
disconnection. Observe the following precautions when wiring.
(1) Cable twisting
Straighten the flexible cables before wiring.
Twisted cables cause early disconnection. Check the indication on the cable surface to make sure that the cable is not
twisted.
(2) Fixing method
Do not fix the moving points of the flexible cable. Stress on the fixed points may cause early disconnection. Fix the cable
at the minimum number of points.
(3) Cable length
If the cable length is too long, it may cause the cables sagging. Besides the cable length is too short, it may cause the
excessive tension on the fixed points that will cause early disconnection. Use a flexible cable with the optimum length.
(4) Interference between cables
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Linear Servomotors
Linear
198
Model Designations
199
Model Designation
Linear Slides
-Trac
SGT 1 F3 1 - 030 AR 20 - 0 4
-Trac Series
Linear Slide
Linear Slide Type
1 : Standard
(Aluminum base)
Moving Coil Model Voltage Code
SGLFW-35A120A
200 V
F3
SGLFW-35A230A F4
SGLFW-50A200B F9
SGLFW-50A380B FA
SGLFW-35D120A
400 V
FD
SGLFW-35D230A FE
SGLFW-50D200B FF
SGLFW-50D380B FG
Mounted Linear Servomotor
Number of Tables (per Axis)
1 : 1 table
Surface Treatment
0 : Aluminum base: Clear
anodized
Linear Scale Resolution
20 : 20 m
Standard
Stroke Length
007 : 70 mm
to
195 : 1950 mm
* Options:
4: Cable Track Assembly
* Limit sensors and covers sold
separately. See Cables, Connectors,
and Accessories.
Linear Slides
-Trac
Linear
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200
Model Classification
2Force
1 Factory assembled, fully integrated linear motor driven slide
reduces machine design complexity and commissioning time.
1 Automatic motor recognition by Yaskawa amplifiers eliminates
need for user to input motor coil parameters.
1 Long strokes and high-speed, high accuracy positioning.
1 Large integrated cable carrier allows space for peripheral
cables and hoses.
1 Covers and accessories available as accessories (up to 1 m
stroke).
1 See www.yaskawa.com for "Quick Ship" program details.
2Stroke Length
SERVOPACK Model SGDV- -Trac Series Linear Slides
Single-phase
100 VAC
Three-phase
200 VAC
Three-phase
400 VAC
Model Force
2R1F 1R6A SGT1F31-
1R9D SGT1FD1-
3R8A SGT1F41-
1R9D SGT1FE1-
5R5A SGT1F91-
3R5D SGT1FF1-
120A SGT1FA1-
5R4D SGT1FG1-
200 N 400 N 600 N 800 N 1000 N 1200 N
Rated
force
Peak
force
Model Stroke Length
SGT1F31-
SGT1FD1-
SGT1F41-
SGT1FE1-
SGT1F91-
SGT1FF1-
SGT1FA1-
SGT1FG1-
500 mm 1000 mm 1500 mm 2000 mm
80 mm
180 mm
70 mm
1950 mm
1830 mm
1830 mm
170 mm 1650 mm
1 Pick and Place
1 Precision Dispensing
1 Vision Inspection
1 Laser Cutting/Machining.
1 Engraving
1 Flat Panel Display Manufacture
(LCD Substrate Handling)
1 Industrial Laser and Ink J et Printing
1 Electronic Component Assembly
1 Insertion Machines (Packaging)
201
Note: When the effective force during
intermittent duty is within the rated
force, the servomotor can be used
within the intermittent duty zone.
SGT1F31, SGT1F41, SGT1FD1, and SGT1FE1 Linear Slides
*1: Squares () are used to indicate the stroke length code shown in Tables 1 and 2.
*2: Values obtained when the acceleration is 4.9 m/s
2
.
*3: Contact your Yaskawa representative if the expected payload exceeds the value indicated in the table.
*4: Values obtained when the ambient temperature is constant.
1Ratings and Specifications
Linear Slide Model
*1
200 V Models 400 V Models
SGT1F31-
AR20-04
SGT1F41-
AR20-04
SGT1FD1-
AR20-04
SGT1FE1-
AR20-04
Mounted Linear Servomotor Model SGLFW- 35A120AP 35A230AP 35D120AP 35D230AP
Applicable SERVOPACK Model SGDV- 2R1F, 1R6A 3R8A 1R9D 1R9D
Mounted Serial Converter Unit Model JZDP- D008-019 D008-020 D008-211 D008-212
Rated Force N 80 160 80 160
Peak Force N 220 440 220 440
Force Constant N / A
rms
62.4 62.4 136 136
Motor Constant N / QW 14.4 20.4 14.2 20.1
Maximum Payload
*2, *3
kg 30 70 30 70
Movable Member Mass kg 4.3 6.6 4.3 6.6
Total Mass kg
See Table 1
on the next page.
See Table 2
on the next page.
See Table 1
on the next page.
See Table 2
on the next page.
Effective Stroke mm
Resolution m 0.078 (20 m / 256) 0.078 (20 m / 256)
Repeatability
*4
m 1.0 1.0 1.0 1.0
Absolute Accuracy m Consult factory Consult factory
Straightness and Flatness m Consult factory Consult factory
1Performance Curves
A B
A
B
(Note)
Force - Speed
When the sensor temperature is 50C or less
Effective Force - Ambient Temperature Load Mass - Acceleration
Average speed (m/s) : 0 1 2
A B
S
p
e
e
d

(
m
/
s
)
S
p
e
e
d

(
m
/
s
)
0
6
5
4
3
2
1
Force (N)
0 50 100 150 200 250
0
6
5
4
3
2
1
Force (N)
0 100 200 300 400 500
0
5
10
15
20
25
30
35
40
45
20 0 40 60 80 100
A
m
b
i
e
n
t

T
e
m
p
e
r
a
t
u
r
e

(
C
)
A
m
b
i
e
n
t

T
e
m
p
e
r
a
t
u
r
e

(
C
)
Effective Force [Load Ratio] (%)
0
5
10
15
20
25
30
35
40
45
20 0 40 60 80 100
Effective Force [Load Ratio] (%) Load Mass (kg)
70 40 30 60 50 20 10 0
0
20
40
60
80
100
30 20 10 0
A
c
c
e
l
e
r
a
t
i
o
n

(
m
/
s
2
)
A
c
c
e
l
e
r
a
t
i
o
n

(
m
/
s
2
)
0
10
20
30
40
50
60
70
80
Load Mass (kg)
Note: Average speedTotal movement distance (m)/
cycle time (s)
(1) SGT1F31,
SGT1FD1
(2) SGT1F41,
SGT1FE1
Winding Insulation: Class A
SGT1F31, SGT1F41, SGT1FD1, and SGT1FE1 Linear Slides Units: mm
Linear Slides
-Trac
Linear
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202
Table 1
Table 2
1
7
0
1
4
8
1
1
6.35 L4
L3
22
L5 6.35 L4 0 4 0 4 0 4 0 4 40
141
221
263
285
1
0
0
.
5
0
3
2
.
2
5
Dowel Holes
10 - 5, Depth 12
Holes, Depth 12
12 - M6x1.0 Tapped
14, Depth 0.5
2 x N - 7 Thru
Mounting Holes
X
X
Y
Y
L1
1
0
0
L1 + 12.7
38.85 1.55
32.50 32.50
38.85 1.55 L2
Stopper Stopper
Scale Head Linear Scale
165
1
5
1
0
111 29.50
170
122.84
267.84
4
8
.
9
7
2.50
97.84
120
2.50
9
9
.
5
0
1
4
.
5
0
2
2
1
0
0
A
10.50 9
3
.
5
0
6.30
DETAIL A
M8 x 1.25, Depth 16
Provision for Lifting
(both ends)
M8 x 1.25, Depth 16
(both ends)
Note: Endplate removed in this view
L1
mm
L2
mm
L3
mm
L4
mm
L5
mm
N
Length Code
Stroke Total
Mass
kg
008
030
041
052
063
074
085
096
107
118
129
140
151
162
173
184
195
80
300
410
520
630
740
850
960
1070
1180
1290
1400
1510
1620
1730
1840
1950
360
580
690
295
515
625
270
440
550
4
5
6
45 90
800 735 660
910
1020
1130
1240
1350
1460
1570
1680
1790
1900
2010
2120
2230
845
955
1065
1175
1285
1395
1505
1615
1725
1835
1945
2055
2165
770
880
990
1100
1210
1320
1430
1540
1650
1760
1870
1980
2090
70 110
8
9
10
11
12
13
14
15
16
17
18
19
20
7
L1
mm
L2
mm
L3
mm
L4
mm
L5
mm
N
Length Code
Stroke Total
Mass
kg
018
029
040
051
062
073
084
095
106
117
128
139
150
161
172
183
180
290
400
510
620
730
840
950
1060
1170
1280
1390
1500
1610
1720
1830
580
690
800
910
1020
1130
1240
1350
1460
1570
1680
1790
1900
2010
2120
2230
515
625
735
845
955
1065
1175
1285
1395
1505
1615
1725
1835
1945
2055
2165
440
550
660
770
880
990
1100
1210
1320
1430
1540
1650
1760
1870
1980
2090
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
16.5
18.5
20.4
22.2
24.2
26.1
28.6
30.1
32.0
33.8
35.8
37.7
39.8
41.6
43.6
44.3
70 110
(Note 1)
1
4
8
1
1
L3
158
180
1
7
0
1
0
0
.
5
0
3
2
.
2
5
40 40 40
141 Holes, Depth12
8 - M6x1.0 Tapped L5
22
6.35 L4 6.35 L4
Dowel Holes
6 - 5, Depth 12
14, Depth 0.5
2 x N - 7 Thru
Mounting Holes
L1
L2
L1 + 12.7
32.50
38.85 1.55
32.50
38.85 1.55 1
0
0
Stopper Stopper
165
120
1
5
1
0111
170
122.84
267.84
2.50
97.84
2.50
9
9
.
5
0
4
8
.
9
7
1
0
0
2
2
1
4
.
5
0
29.50
10.50 9
3
.
5
0 6.30
DETAIL A
X
X
Y
Y
A
(Note 1)
10.4
14.4
16.3
20.0
21.9
23.9
26.0
27.8
29.8
31.6
33.5
35.6
37.5
39.4
41.3
43.2
18.2
Opening for
Limit Sensor
Wires (both
ends)
Opening for
Limit Sensor
Wires (both
ends)
4
3
2
1
View X-X
Plug : 350779-1
(by Tyco Electronics
AMP K.K.)
Pins : 350924-1 or 770672-1
(by Tyco Electronics
AMP K.K.)
Plug : 55100-0600
(by Molex.)
Connector (Socket):
54280-0600
(by Molex.)
View Y-Y
For Encoder Connection
For Motor Cable
Pin
No.
1
2
3
4
Signal
Phase-U output
Phase-V output
Phase-Woutput
FG
Pin Signal Wire Color
1 PG 5V Red
2 PG 0V Black
3
4
5 Data + Light Blue

6 Data - White/Light Blue
5
3
1
6
4
2
Encoder Plug
1External Dimensions
(1) SGT1F31, SGT1FD1
(2) SGT1F41, SGT1FE1
Notes: 1 The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W.
2 When installing the linear slide, the surface should be flat to the equivalent of a maximum discrepancy of 0.02/200 mm (reference value).
Connector Specifications for the -Trac Series Linear Slides (All Models)
203
S
p
e
e
d

(
m
/
s
)
Force (N)
A
m
b
i
e
n
t

T
e
m
p
e
r
a
t
u
r
e

(
C
)
Effective Force [Load Ratio] (%)
A
c
c
e
l
e
r
a
t
i
o
n

(
m
/
s
2
)
S
p
e
e
d

(
m
/
s
)
A
m
b
i
e
n
t

T
e
m
p
e
r
a
t
u
r
e

(
C
)
A
c
c
e
l
e
r
a
t
i
o
n

(
m
/
s
2
)
Load Mass (kg)
Force (N) Effective Force [Load Ratio] (%) Load Mass (kg)
A
B
(Note)
Force - Speed
When the sensor temperature is 50C or less
Effective Force - Ambient Temperature Load Mass - Acceleration
Average speed (m/s) : 0 1 2
Note: Average speedTotal movement distance (m)/
cycle time (s)
A B
6
5
4
3
2
1
0
0 0 200 400 600 700
0
5
10
15
20
25
30
35
40
45
20 40 60 80 100 100 80 60 40 20 0
0
20
40
60
80
100
A B
6
5
4
3
2
1
0
0 400 800 12001400
0
5
10
15
20
25
30
35
40
45
20 0 40 60 80 100 200 150 100 50 0
0
20
40
60
80
100
Note: When the effective force during
intermittent duty is within the rated
force, the servomotor can be used
within the intermittent duty zone.
SGT1F91, SGT1FA1, SGT1FF1, and SGT1FG1 Linear Slides
*1: Squares () are used to indicate the stroke length code shown in Tables 1.
*2: Values obtained when the acceleration is 4.9 m/s
2
.
*3: Contact your Yaskawa representative if the expected payload exceeds the value indicated in the table.
*4: Values obtained when the ambient temperature is constant.
1Ratings and Specifications
Linear Slide Model
*1
200 V Models 400 V Models
SGT1F91-
AR20-04
SGT1FA1-
AR20-04
SGT1FF1-
AR20-04
SGT1FG1-
AR20-04
Mounted Linear Servomotor Model SGLFW- 50A200BP 50A380BP 50D200BP 50D380BP
Applicable SERVOPACK Model SGDV- 5R5A 120A 3R5D 5R4D
Applicable Serial Converter Unit Model JZDP- D008-181 D008-182 D008-189 D008-190
Rated Force N 280 560 280 560
Peak Force N 600 1200 600 1200
Force Constant N / A
rms
60.2 60.2 134.7 134.7
Motor Constant N / QW 34.3 48.5 34.4 47.2
Maximum Payload
*2, *3
kg 100 215 100 215
Movable Member Mass kg 8.5 14.5 8.5 14.5
Total Mass kg
See Table 1
on the next page.
See Table 2
on the next page.
See Table 1
on the next page.
See Table 2
on the next page.
Effective Stroke mm
Resolution m 0.078 (20 m / 256) 0.078 (20 m / 256)
Repeatability
*4
m 1.0 1.0
Absolute Accuracy m Consult factory Consult factory
Straightness and Flatness m Consult factory Consult factory
1Performance Curves
Winding Insulation: Class A
(1) SGT1F91,
SGT1FF1
(2) SGT1FA1,
SGT1FG1
Linear Slides
-Trac
Linear
L
i
n
e
a
r

S
l
i
d
e
s
204
Table 1 See page 212 for details on
each connector specifications.
(Note 1)
L1 L2 L3 L4 L5 N
Length Code
Stroke Total
Mass
kg
007
035
048
062
075
089
102
116
129
143
156
170
183
70
350
480
620
750
890
1020
1160
1290
1430
1560
1700
1830
440
720
850
990
1120
1260
1390
1530
1660
1800
1930
2070
2200
375
655
785
925
1055
1195
1325
1465
1595
1735
1865
2005
2135
300
540
675
810
945
1080
1215
1350
1485
1620
1755
1890
2025
70
90
87.5
90
87.5
90
87.5
90
87.5
90
87.5
90
87.5
100
135
4
5
6
7
8
9
10
11
12
13
14
15
16
15.9
21.3
24.1
26.9
29.5
32.2
35.0
37.7
40.3
43.0
45.8
48.5
51.2
L4 6.35
1
2
1
6
8
1
9
2
265
243 22
L3
L5 6.35
1
1
7
3
5
3 5 3 5 3 5
199 Holes, Depth 16
8 - M8x1.25 Tapped
L4
18, Depth 0.5
2 x N - 9 Thru
Mounting Holes
Dowel Holes
6 - 5, Depth 12
X
X
Y
Y
L1
L1 + 12.7
1
1
5
.
5
0
L2 38.85 1.55
32.50 32.50
38.85 1.55
Stopper Stopper
128
192
1
1
2.50 187 2.50
122.84
287.84
95.84
138
32
0
2
2
2
1
1
5
.
5
0
1
1
5
2
4
6
4
.
4
7
A
10.50
6.30
9
3
.
5
0
DETAIL A
M8 x 1.25, Depth 16
(both ends)
Opening for
Limit Sensor
Wires (both
ends)
Table 1
Stroke
L1
mm
L2
mm
L3
mm
L4
mm
L5
mm
N
Total
Mass
kg
Code Length
007 70 440 375 300 70 100 4 17.3
035 350 720 655 540 90
135
5 22.8
048 480 850 785 675 87.5 6 25.6
062 620 990 925 810 90 7 28.4
075 750 1120 1055 945 87.5 8 31.0
089 890 1260 1195 1080 90 9 33.8
102 1020 1390 1325 1215 87.5 10 36.6
116 1160 1530 1465 1350 90 11 39.3
129 1290 1660 1595 1485 87.5 12 41.9
143 1430 1800 1735 1620 90 13 44.7
156 1560 1930 1865 1755 87.5 14 47.5
170 1700 2070 2005 1890 90 15 50.2
183 1830 2200 2135 2025 87.5 16 53.0
6.35
1
9
2
22
6.35 3 5 3 5 3 5 3 5 53 53 53
199
411
423
445
1
6
8
1
2
L4 L5
3
5
1
1
7
L4
L3
18, Depth 0.5
2 x N - 9 Thru
Mounting Holes
Holes, Depth 16
16 - M8x1.25 Tapped
Dowel Holes
10 - 5, Depth 12
X
X
Y
Y
32.50
38.85 1
1
5
.
5
0
L2
32.50
38.85
L1
L1 + 12.7
1.55 1.55
Stopper Stopper
128
187
122.84 138
2
0
1
1
5
.
5
0
2.50 2.50
6
4
.
4
71
1
5
95.84 192
287.84
1
1
2
4
2
2
32 A
10.50
6.30
3
.
5
0
9
DETAIL A
(Note 1)
M8 x 1.25, Depth 16
(both ends)
Opening for
Limit Sensor
Wires (both
ends)
Table 2
Stroke
L1
mm
L2
mm
L3
mm
L4
mm
L5
mm
N
Total
Mass
kg
Code Length
017 170 720 655 540 90
135
5 28.7
030 300 850 785 675 87.5 6 31.6
044 440 990 925 810 90 7 34.4
057 570 1120 1055 945 87.5 8 37.0
071 710 1260 1195 1080 90 9 39.7
084 840 1390 1325 1215 87.5 10 42.6
098 980 1530 1465 1350 90 11 45.3
111 1110 1660 1595 1485 87.5 12 47.9
125 1250 1800 1735 1620 90 13 50.6
138 1380 1930 1865 1755 87.5 14 53.4
152 1520 2070 2005 1890 90 15 56.2
165 1650 2200 2135 2025 87.5 16 58.9
(2) SGT1FA1, SGT1FG1
SGT1F91, SGT1FA1, SGT1FF1, and SGT1FG1 Linear Slides Units: mm
(1) SGT1F91, SGT1FF1
Notes: 1 The moving coil moves in the direction indicated by the arrow when current flows in the order of phase U, V, and W.
2 When installing the linear Slide, the surface should be flat to the equivalent of a maximum discrepancy of 0.02/200 mm (reference value).
205
DC Power Supply
(24 VDC) for 400 V
Models only)
DF0300413 PC
ON
1
POWER
COM
S/N D0024B958810004
Personal Computer
Host Controller
Personal Computer
Cable
Digital Operator
JUSP-OP05A-1-E
I/O Signal Cable
Regenerative
Resistor
Noise
Filter
Molded
Case
Circuit
Breaker
Magnetic
Contactor
Power Supply
f
o
r

2
0
0

V

M
o
d
e
l
s

o
n
l
y

CN2
CN1
CN3
CN5
CN3
CN1
I/O Signal Cable
Digital Operator Cable
To External
Devices such as
LED Indicators
CN1
Reference Input Form from Host Controller
Linear Scale
For Pulse Train Reference or Analog
Voltage Reference
For MECHATROLINK Communications
CN6
CN3
MECHATROLINK
Communications Cable
Digital
Operator
To Other Stations Using
MECHATROLINK/
MECHATROLINK-II.
Analog Monitor Cable
To
With Front Cover Open
(SERVOPACK for Analog
Voltage/Pulse Train
Reference Communications)
With Front Cover Open
(SERVOPACK for
MECHATROLINK-II
Communications)
CN5
CN5
Incremental
Power
Cable
Encoder Cable
U V W
Serial Cable To CN2
Selecting Cables, Connectors, and Accessories
1Connection diagrams
Linear Slides
-Trac
Linear
L
i
n
e
a
r

S
l
i
d
e
s
206
Stroke Codes
Cover
Length
(mm)
SGT1F31
SGT1FD1
SGT1F41
SGT1FE1
008 - 372.7
030 018 592.7
041 029 702.7
052 040 812.7
063 051 922.7
074 062 1032.7
085 073 1142.7
096 084 1252.7
107 095 1362.7
Code Description
PNO PNP Normally Open
NNO NPN Normally Open
NNC NPN Normally Closed
Stroke Codes
Cover
Length
(mm)
SGT1F91
SGT1FF1
SGT1FA1
SGT1FG1
007 - 452.7
035 017 732.7
048 030 862.7
062 044 1002.7
075 057 1132.7
089 071 1272.7
102 084 1402.7
1Applicable Cables and Connectors
M
o
t
o
r

T
y
p
e
L
in
e
a
r

S
c
a
le
T
y
p
eServo Drive Motor Cable Linear Scale Connection Cables Pulse-train or Analog Voltage Reference
-Trac Series
Model
SERVOPACK Model SGDV- SERVOPACK Motor [CN2] Encoder Cable I/O Signal Connector [CN1]
Single-phase
100 V
Three-phase
200 V
Three-phase
400 V
Power Cable
(Flexible Type)
Serial Cable
(Flexible Type)
Connector Terminal
Block Converter Unit
Cable with Loose
Wires at One End
Connector
Kit (CN1)
M
o
v
i
n
g

C
o
i
l

(
M
C
)
I
n
c
r
e
m
e
n
t
a
l
SGT1F31-
AR20-04
2R1F, - -
JZSP-CLN11-
JZSP-CMP00- (A)
The numbers in the boxes()
indicate the cable length.
03 = 3 m
05 = 5 m
10 = 10 m
15 = 15 m
20 = 20 m
JUSP-
TA50PG-E
(with a 0.5 m
cable)
JZSP-
CSI01--E
The number
in the box
() indicates
the cable
length.
1 = 1 m
2 = 2 m
3 = 3 m
JZSP-
CSI9-1-E
- 1R6A -
SGT1FD1-
AR20-04
- - 1R9D
SGT1F41-
AR20-04
- 3R8A -
JZSP-CLN11-
SGT1FE1-
AR20-04
- - 1R9D
SGT1F91-
AR20-04
- 5R5A -
JZSP-CLN21-
SGT1FF1-
AR20-04
- - 3R5D
SGT1FA1-
AR20-04
- 120A -
JZSP-CLN21-
SGT1FG1-
AR20-04
- - 5R4D
Selecting Cables, Connectors, and Accessories
M
o
t
o
r

T
y
p
e
L
in
e
a
r

S
c
a
le
T
y
p
eServo Drive MECHATROLINK Communications Cables for Setting Devices/Monitors
-Trac Series
Model
SERVOPACK Model SGDV- I/O Signal Connector [CN1]
MECHATROLINK Communications
Connector [CN6A] or [CN6B]
[CN3] Setting Devices [CN5]
Single-phase
100 V
Three-phase
200 V
Three-phase
400 V
Connector Terminal Block
Converter Cable
Connector
Kit (CN1)
Personal
Computer Cable
Analog Monitor
Cable
M
o
v
i
n
g

C
o
i
l

(
M
C
)
I
n
c
r
e
m
e
n
t
a
l
SGT1F31-
AR20-04
2R1F, - -
JZSP-
TA26P--E
None = 0.5 m
1 = 1 m
2 = 2 m
JZSP-
CSI9-2-E
(DE9411354)
MECHATROLINK
communications cable:
JEPMC-W6002--E
The numbers in the boxes()
indicate the cable length.
A5 = 0.5 m 20 = 20 m
01 = 1 m 30 = 30 m
03 = 3 m 40 = 40 m
05 = 5 m 50 = 50 m
10 = 10 m
MECHATROLINK terminator:
JEPMC-W6022-E
JZDP-
CMS02-E
(2 m)
JZSP-
CA01-E
(1 m)
- 1R6A -
SGT1FD1-
AR20-04
- - 1R9D
SGT1F41-
AR20-04
- 3R8A -
SGT1FE1-
AR20-04
- - 1R9D
SGT1F91-
AR20-04
- 5R5A -
SGT1FF1-
AR20-04
- - 3R5D
SGT1FA1-
AR20-04
- 120A -
SGT1FG1-
AR20-04
- - 5R4D
1Applicable Accessories
Cover Kits: SGTA-CVR 3 - 030
Stroke Code for Motor Selected
Limit Sensor Kits: SGTA-LSK
Motor Code
3 Covers for SGT1F31, SGT1FD1
4 Covers for SGT1F41, SGT1FE1
9 Covers for SGT1F91, SGT1FF1
A Covers for SGT1FA1, SGT1FG1
Kit includes 1 sensor plus mounting screw.
Note: Cover kit includes 1 top
cover, 2 side covers, and all
mounting hardware.
207
SGDV-01
(For Rotary Servomotors)

Analog Voltage/Pulse Train Reference Type SERVOPACKs
SGDV-05
(For Linear Servomotors)
Model Designations
vSeries
SGDV SERVOPACK
SGDV - R70 A 01 B 002000
Current
Interface
Code Specifications
F 100 VAC
A 200 VAC
D 400 VAC
Options
Voltage
Code Specifications
002000 Base-mounted, varbish(standard)
008000
Single-phase, 200VAC Input
(model: SGDV-120A01A008000)
Code Specifications
01
Analog voltage/pulse train reference type
(for rotary servomotors)
05
(for linear servomotors)
Code
100 V (Single Phase)
Code
200 V (Three Phase)
Code
400 V (Three Phase)
Applicable Servomotor Max. Capacity kW Applicable Servomotor Max. Capacity kW Applicable Servomotor Max. Capacity kW
R70 0.05 R70* 0.05 1R9 0.5
R90 0.1 R90* 0.1 3R5 1.0
2R1 0.2 1R6* 0.2 5R4 1.5
2R8 0.4 2R8* 0.4 8R4 2.0
3R8 0.5 120 3.0
5R5* 0.75 170 5.0
7R6 1.0 210 6.0
120** 1.5 260 7.5
180 2.0 280 11
200 3.0 370 15
330 5.0
470 6.0
550 7.5
590 11
780 15
* These amplifiers can be powered with single or three-phase.
** SGDV-120A1A008000, a special version of the 1.5kW
amplifier can be used for single-phase operation.
Code Specifications
A Fan-Cooling
B Fanless Cooling
Cooling Method
SGLGW

A
n
a
l
o
g
/
P
u
l
s
e

T
y
p
e

S
E
R
V
O
P
A
C
K
s
208
Ratings
1Unprecedented ease-of-use through cutting-edge technology

New tuning-less function means no adjustment needed.

Impressive load regulation with strengthened vibration suppression function.
1Slashed setup time

Setup wizard function and wiring conformation function of engineering tool SigmaWin+ allows
easy setup just by watching the monitor.
1High response characteristics at 1 kHz min.
New advanced autotuning.
Reduced positioning time through model following control, and smooth machine control enabled
by vibration suppression function.
Features
SERVOPACK Model SGDV- R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A 180A 200A 330A 470A 550A 590A 780A
Applicable Servomotor Max. Capacity kW 0.05 0.1 0.2 0.4 0.5 0.75 1.0 1.5 2.0 3.0 5.0 6 7.5 11 15
Continuous Output Current A
rms
0.66 0.91 1.6 2.8 3.8 5.5 7.6 11.6 18.5 19.6 32.9 46.9 54.7 58.6 78
Max. Output Current A
rms
2.1 2.9 6.5 9.3 11 16.9 17 28 42 56 84 110 130 140 170
Main Circuit Three-phase 200 to 230 VAC+10% to -15% 50/60 Hz
Control Circuit Single-phase 200 to 230 VAC+10% to -15% 50/60 Hz
Three-phase 200 V
Note: Overload characteristics shown above do not guarantee continuous duty of 100% or more output. Use a servomotor with effective torque within
the continuous duty zone of Torque-Motor Speed Characteristics.
Torque reference(percent of rated torque)
(%)
D
e
t
e
c
t
i
n
g

t
i
m
e

(
s
)
10000
1000
100
10
1
100 200 300 350
SGMJV
SGMAV-A5, 01, C2
SGMAV-02, 04, 06, 0810
SGMPS
10000
1000
100
10
1
100 200 300
D
e
t
e
c
t
i
n
g

t
i
m
e

(
s
)
(%)
SERVOPACK Model SGDV- 1R9D 3R5D 5R4D 8R4D 120D 170D 210D 260D 280D 370D
Applicable Servomotor Max. Capacity kW 0.5 1.0 1.5 2.0 3.0 5.0 6 7.5 11 15
rms
1.9 3.5 5.4 8.4 11.9 16.5 20.8 25.4 28.1 37.2
rms
5.5 8.5 14 20 28 42 55 65 70 85
Control Circuit 24 VDC 15%
1SERVOPACK Overload Characteristics
Three-phase 400 V
Rated torque + Max. torque
2
Max.
torque
Rated
torque
Approx.
SGMGV-44A, -55A,
-75A
10000
1000
100
10
1
SGMGV-03A, -05A, -09A,
-13A-20A, -30A,
-1AA, -1EA
SGMGV-D
SGMSV-
D
e
t
e
c
t
i
n
g

t
i
m
e

(
s
)
SERVOPACK Model SGDV- R70F R90F 2R1F 2R8F
Applicable Servomotor Max. Capacity kW 0.05 0.1 0.2 0.4
rms
0.66 0.91 2.1 2.8
rms
2.1 2.9 6.5 9.3
Main Circuit (Single Phase) 100 to 115 VAC+10% to -15% 50/60 Hz
Control Circuit (Single Phase) 100 to 115 VAC+10% to -15% 50/60 Hz
Single-phase 100 V Single-phase 200 V
SERVOPACK Model SGDV- R70A R90A 1R6A 2R8A 5R5A 120
Applicable Servomotor Max. Capacity kW 0.05 0.1 0.2 0.4 0.75 1.5
rms
0.66 0.91 1.6 2.8 5.5 11.6
rms
2.1 2.9 6.5 9.3 16.9 28
Main Circuit (Single Phase) 220 to 230 VAC +10% to -15% 50/60 Hz
Control Circuit (Single Phase) 220 to 230 VAC +10% to -15% 50/60 Hz
209
Input Power
Supply
Main Circuit
100 V Single-phase 100 to 115 VAC +10% to -15% 50/60 Hz
200 V Three-phase 200 to 230 VAC +10% to -15% 50/60 Hz
Control Circuit
400 V 24 VDC 15%
Control Method
For 100 V, for 200 V, for 400 V, single-phase or three-phase full-wave rectification IGBT
PWM control, sine-wave driven
Feedback
Rotary Servomotors
Serial encoder: 13-bit (incremental encoder)
: 17-bit (incremental/absolute encoder)
Linear Servomotors Serial converter or serial data
Operating
Conditions
Surrounding/Storage Temperature Surrounding temperature: 0 to +55C, storage temperature: -20 to +85C
Ambient/Storage Humidity 90%RH or less (no condensation)
Vibration/Shock Resistance Vibration resistance: 4.9 m/s
2
, Shock resistance: 19.6 m/s
2
Protection class/Pollution degree
Protection class: IP 1X, pollution degree: 2
Do not use SERVOPACKs in the following locations:
Locations subject to corrosive or flammable gasses
Locations subject to exposure to water, oil, or chemicals
Locations subject to dust, including iron dust, and salts
Others
Locations subject to static electricity noise, strong electromagnetic/magnetic fields, radioactivity
Elevation 1000 m or less
Compliant Standards
UL 508C
EN50178, EN55011 class A group 1, EN61800-3, EN61800-5-1
Configuration Base-mounted (Rack-mounting available as an option for some models. 6 kW or more models are duct-ventilated.)
Performance
Speed Control Range 1:5000 (The lowest speed of the speed control range is the speed at which the servomotor will not stop with a rated torque load.)
Speed Regulation*
Load Regulation 0% to 100% load: 0.01% max. (at rated speed)
Voltage Regulation Rated voltage: 10% : 0% (at rated speed)
Temperature Regulation 2525C : 0.1% max. (at rated speed)
Torque Control Tolerance (Repeatability) 1%
Soft Start Time Setting 0 to 10 s (can be set individually for acceleration and deceleration.)
I/O Signals Encoder Output Pulses
Phase A, phase B, phase C: line driver output
The number of dividing pulse: Any setting ratio is available.
Communications
RS-422A
Communications
Interface Digital operator, RS-422A port of personal computers etc.
1:N communications RS-422A port: N=15 max. available
Axis address setting Set by parameters
Function Status display, parameter settings, adjustment functions, utility functions, parameter copy functions
USB Communications
Interface Personal computers (application: engineering tool SigmaWin+)
1:N communications Compliant with USB1.1 standard
Function Status display, parameter settings, adjustment functions, utility functions, parameter copy functions, waveformtrace
Display Power Charge CHARGE for main circuit power supply input confirmation One LED (orange)
Analog Monitor
Analog monitor connector built in for monitoring speed, torque and other reference signals.
Number of points: 2
Protective Functions Overcurrent, Overvoltage, low voltage, overload, regeneration error
Utility Functions Alarm history, J OG operation, origin search, etc.
Regenerative Processing
100 VAC model: External regenerative resistor (optional)
200 VAC SGDV-R70A, -R90A, -1R6A, -2R8A: External regenerative resistor (optional)
200 VAC SGDV-470A, -550A, -590A, -780A: External regenerative resistor unit (optional)
200 VAC models other than shown above: Built-in regenerative resistor
400 VAC SGDV-210D, -260D, -280D, -370D: External regenerative resistor unit (optional)
Safety Functions
Input /HWBB1, /HWBB2: Hard wire base block signal
Output EDM1: Status monitor (fixed output) of built-in safety circuit
Compliant Standards EN954 category 3 Stop category 0, IEC61508 SIL 2
Option Card Function Feedback Serial encoder communications input for fully-closed loop control
Specifications
*: Speed regulation is defined as follows:

Speed regulation=
No-load motor speed-Total load motor speed
100%
Rated motor speed
The motor speed may change due to voltage variations or temperature variation. The ratio of speed changes to the rated speed represent speed regulation due to voltage and
temperature variations.
Analog/Pulse Type SERVOPACKs
SGDV-01/05
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210
1Rotary Servomotors
Specifications
I/O Signal
Encoder Output Pulses
Sequence Input
Fixed Input SEN signal
Input Signals
which can be
allocated
Number of
Channels
7 channels
Functions
The signal allocation and positive/negative logic can be modified.
Servo On (/S-ON), proportional control (/P-CON),
alarm reset (/ALM-RST), forward run prohibited (P-OT),
reverse run prohibited (/N-OT), forward torque limit (/P-CL),
reverse torque limit(/N-CL),
internal set speed selection (/SPD-D, / SPD-A, /SPD-B), control
selection (/C-SEL), zero clamping (/ZCLAMP), reference pulse inhibit
(/INHIBIT), gain selection (/G-SEL)
Sequence Output
Fixed Output Servo alarm (ALM), alarm code (ALO1, ALO2, ALO3) outputs
Output Signals which
can be allocated
Number of
Channels
3 channels
Functions
Positioning completion (/COIN), speed coincidence detection
(/V-CMP), servomotor rotation detection (/TGON), servo ready
(/S-RDY), torque limit detection (/CLT), speed limit detection
(/VLT), brake interlock (/BK), warning (/WRAN), near (/NEAR)
Panel Operator
Display 7-segment 5-digit LED (Red)
Switch Push switch: 4 channels
Torque Control Analog Input
Reference Voltage
3 VDC (Variable setting range: 1 to 10 VDC) at rated torque,
max. input voltage: 12 V
Input Impedance About 14 k min.
Circuit Time Constant 16 s
Speed Control
Analog Input
Reference Voltage
6 VDC (variable setting range: 2 to 10 VDC) at rated speed,
Internal Set Speed
Control
Rotation Direction
Selection
Switches the direction by /P-CON (/SPD-D)
Speed Selection Speed 1 to 3 selection
Function Soft Start Setting 0 to 10 s (can be set individually for acceleration and deceleration.)
Position Control
Reference Pulse
Type Sign + pulse train, 90phase difference 2-phase pulse (phase A + phase B), or CCW + CW pulse train
Form Non-insulated line driver (+5 V level), open collector
Max. Input Pulse
Frequency*
Sign+ Pulse train : 4 Mpps
CW+ CCW pulse train : 4 Mpps
90 phase difference 2-phase pulse
1 multiplier : 1 Mpps (before mlutiplier)
Open collector : 200 kpps
Clear Signal
Function Clears error pulse by external signals.
Form Applicable to line driver, open collector
*: If the maximum reference frequency exceeds 1 Mpps, use a shielded cable for I/O signals and ground both ends of the shield.
Connect the shield at the SERVOPACK to the connector shell.
211
1Linear Servomotors
I/O Signal
Sequence Input
Input Signals which
can be allocated
Number of
Channels
7 channels
Functions
Servo ON (/S-ON), proportional control (/P-CON),
alarm reset (/ALM-RST), forward run prohibited (P-OT),
reverse run prohibited (N-OT), forward external force limit (/P-CL),
reverse external force limit (/N-CL),
internal set speed selection (/SPD-D, /SPD-A, /SPD-B),
control selection (/C-SEL), zero clamping (/ZCLAMP),
reference pulse inhibit (/INHIBIT), gain selection (/G-SEL),
polarity detection (P-DET)
Sequence Output
Fixed Output Servo alarm (ALM), alarm code (ALO1, ALO2, ALO3) outputs
can be allocated
Number of
Channels
3 channels
Functions
The signal allocation and positive / negative logic can be modified.
(V/CMP), servomotor movement detection (/TGON), servo ready
(/S-RDY), force limit detection (/CLT), speed limit detection (/VLT), brake
interlock (/BK), warning (/WARN), near (/NEAR)
Panel Operator
Display 7-segment 5-digit LED (Red)
Switch Push switch: 4 channels
Force Control Analog Input
Reference Voltage 3 VDC (variable setting range: 1 to 10 VDC), max. input voltage: 12 V
Speed Control
Analog Input
Reference Voltage
6 VDC (variable setting range: 2 to 10 VDC) at rated speed,
Internal Set Speed
Control
Movement Direction
Selection
/P-CON (/SPD-D) signal
Speed Selection Speed 1 to 3 selection
Function Soft Start Setting 0 to 10 s (can be set individually for acceleration and deceleration.)
Position Control
Reference Pulse
Type Sign+pulse train, 90phase difference 2-phase pulse (phase A+phase B), or CCW+CW pulse train
Form Non-insulated line driver (+5 V level), open collector
Max. Input Pulse
Frequency*
Sign+ Pulse train : 4 Mpps
CW+ CCW pulse train : 4 Mpps
90 phase difference 2-phase pulse
Open collector : 200 kpps
Clear Signal
Function Clears error pulse by external signals.
Form Applicable to line driver, open collector
Specifications
SGDV-01/05
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Power Supply Capacities and Power Losses
*1: For the optional J USP-RA04-E regenerative resistor unit.
*3: For the optional J USP-RA18-E regenerative resistor unit
Notes: 1 SGDV-R70F, -R90F, -2R1F, -2R8F, -R70A, -R90A, -1R6A, and -2R8A SERVOPACKs do not have built-in regenerative resistors.
If the regenerative energy exceeds the specified value, connect an external regenerative resistor (optional).
2 SGDV-470A, -550A, -590A, -780A, -210D, -260D, -280D, -370D SERVOPACKs do not have built-in regenerative resistors.
Be sure to connect a regenerative resistor unit (optional) or an external regenerative resistor (optional).
3 Regenerative resistor power losses are allowable losses. Take the following action if this value is exceeded.
Remove the lead or short bar that is short-circuiting the SERVOPACK main circuit terminal B2 and B3.
(SGDV-3R8A, -5R5A, -7R6A, -120A, -180A, -200A, -330A, or 400-V class SERVOPACKs.)
Install an external regenerative resistor (optional).
Main Circuit
Power
Supply
Applicable
Servomotor
Max.
Capacity
kW
SERVOPACK
Model
SGDV-
Power Supply
Capacity
kVA
Output Current
A
Main Circuit
Power Loss
W
Regenerative
Resistor
Power Loss
W
Control Circuit
Power Loss
W
Total Power
Loss
W
Signal-phase
100 V
0.05 R70F 0.2 0.66 5.4
17
22.4
0.1 R90F 0.3 0.91 7.8 24.8
0.2 2R1F 0.7 2.1 14.4 31.4
0.4 2R8F 1.4 2.8 25.6 42.6
Single-phase
200 V
0.05 R70A 0.2 0.66 5.2
17
22.2
0.1 R90A 0.3 0.91 7.4 24.4
0.2 1R6A 0.7 1.6 13.7 30.7
0.4 2R8A 1.2 2.8 24.9 41.9
0.75 5R5A 1.9 5.5 52.7 8 77.7
1.5 120A 4 11.6 68.2 10 22 100.2
Three-phase
200 V
0.05 R70A 0.2 0.66 5.1
17
22.1
0.1 R90A 0.3 0.91 7.3 24.3
0.2 1R6A 0.6 1.6 13.5 30.5
0.4 2R8A 1 2.8 24.0 41.0
0.5 3R8A 1.4 3.8 20.1
8
45.1
0.75 5R5A 1.6 5.5 43.8 68.8
1.0 7R6A 2.3 7.6 53.6 78.6
1.5 120A 3.2 11.6 65.8 10
22
97.8
2.0 180A 4 18.5 111.9
16
149.9
3.0 200A 5.9 19.6 113.8 161.4
5.0 330A 7.5 32.9 263.7 36 27 326.7
6.0 470A 10.7 46.9 279.4 (180)
*1
33
312.4
7.5 550A 14.6 54.7 357.8
(350)
*2
390.8
11 590A 21.7 58.6 431.7
48
479.7
15 780A 29.6 78 599.0 647.0
Three-phase
400 V
0.5 1R9D 1.1 1.9 24.6
14 21
59.6
1.0 3R5D 2.3 3.5 46.1 81.1
1.5 5R4D 3.5 5.4 71.3 106.3
2.0 8R4D 4.5 8.4 77.9
28 25
130.9
3.0 120D 7.1 11.9 108.7 161.7
5.0 170D 11.7 16.5 161.1 36 24 221.1
6.0 210D 12.4 20.8 172.7
(180)
*3
27
199.7
7.5 260D 14.4 25.7 218.6 245.6
11 280D 21.9 28.1 294.6
(350)
*4
30
324.6
15 370D 30.6 37.2 403.8 433.8
The following table shows SERVOPACK's power supply capacities and power losses at the rated output.
213
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A1r l!ow
A1r l!ow
Ground Torm1na!
2M4 Sorows
Two Torm1na!s
!nput Vo!ta_o
1
6
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Modo!
ON8
ONJ
ON1
ON8
ON2
4O |J6)
28
1JO
|4)
6
1
6
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1
6
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6
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SLRVOPAOK
2M4 Sorow Ho!os
|1J)
|
1
2
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|
2
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Air Flow
Air Flow
Air Flow
Ground Terminal
2-M4 Screws
Two Terminals
Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
(75)
23
180
(17)
(4)
3-M4 Screw Holes
SERVOPACK
Rear View
70
6
5
1
6
0
Cooling Fan
(
2
0
)
(
1
2
0
)
70
1
6
0
1
5
0
0
.
5
(
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(Mounting Pitch)
580.5
Mounting Hole Diagram
1Base-mounted SERVOPACKs
(1) Single-phase 100 VAC, Model: SGDV-R70F0A, -R90F0A, and -2R1F0A
(2) Single-phase 100 VAC, Model: SGDV-2R8F0A
(3) Three-phase 200 VAC, Model: SGDV-R70A0B, -R90A0B, and -1R6A0B
40
35
SERVOPACK
Rear View
2-M4 Screw Holes
Ground Terminal
2-M4 Screws
Two Terminals
Nameplate
40
(17)
(4) (25)
(75) 140
23
(
2
0
)
(
1
2
0
)
CN2
CN8
1
6
0CN1
CN7
CN3
Model
Input Voltage
1
6
0
1
5
0
0
.
5
(
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5
SGDV-01/05
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(4) Three-phase 200 VAC, Model: SGDV-2R8A0B
40
5
SERVOPACK
Rear View
2-M4 Screw Holes
Ground Terminal
2-M4 Screws
Two Terminals
Nameplate
40
(17)
(4) (25)
(75) 170
23
(
2
0
)
(
1
2
0
)
CN2
CN8
1
6
0CN1
CN7
CN3
Model
Input Voltage
1
6
0
1
5
0
0
.
5
(
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300.5
(Mounting Pitch)
5
(5) Three-phase 200 VAC, Model: SGDV-3R8A0A, -5R5A0A, and 7R6A0A
Air Flow
Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
70
1
6
0
Air Flow
Two Terminals
Ground Terminal
2-M4 Screws
(
2
0
)
(17)
(
1
2
0
)
180
23 (25)
(75)
(4)
Cooling Fan
Nameplate
Air Flow
6
70
SERVOPACK
Rear View
3-M4 Screw Holes
5
1
6
0
1
5
0
0
.
5
(
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580.5
(Mounting Pitch)
Air Flow
Air Flow
Ground Terminal
2-M4 Screws
Two Terminals
Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
(75)
(25) 23
180
(17)
(4)
4-M4 Screw Holes
SERVOPACK
Rear View
90
5
5
1
6
0
(
2
0
)
(
1
2
0
)
90
1
6
0
1
5
0
0
.
5
(
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(Mounting Pitch)
800.5
(6) Three-phase 200 VAC, Model: SGDV-120A0A
215
Air Flow
Air Flow
Ground Terminal
2-M4 Screws
Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
100
(75)
22
180
(17)
(4)
4-M4 Screw Holes
SERVOPACK
Rear View
100
5
5
1
8
0
1
8
0
1
7
0
0
.
5
(
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(Mounting Pitch)
900.5
(
2
0
)
(
1
2
0
)
Air Flow
Air Flow
Ground Terminal
2-M4 Screws
Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
110 (75)
22
210
Cooling Fan
(17)
(5)
4-M5 Screw Holes
SERVOPACK
Rear View
110
5
6
2
5
0
2
5
0
2
3
8
.
5
0
.
5
(
M
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)
(Mounting Pitch)
1000.5
(
2
0
)
(
1
2
0
)
(7) Single-phase 200 VAC, Model: SGDV-120A0A008000 (1.5 kW, single-phase input type)
Three-phase 200 VAC, Model: SGDV-180A0A and -200A0A
SGDV-01/05
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(9) Three-phase 200 VAC, Model: SGDV-470A0A and -550A0A
170 210
22
3
5
0
CN3
CN7
CN1
CN8
CN2
(
2
0
)
(75)
(17)
(
1
2
0
)
3
5
0
1200.5
(Mounting Pitch)
25
170
7
.
5
Terminal
6-M6 Screws
Terminal
5-M6 Screws
SERVOPACK
Rear View
Ground Terminal
2-M6 Screws
Air Flow
Air Flow
Input Voltage
Model
4-M6 Screw Holes
3
3
5
0
.
5
(
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260
4
5
0
CN7
CN1
CN8
CN2
CN3
(
2
0
)
(17)
(
1
2
0
)
275
22
(75)
7
.
5
4
5
0
4
3
5
0
.
5

(
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2000.5
(Mounting Pitch)
30
260
Terminal
6-M6 Screws
Terminal
5-M6 Screws
SERVOPACK
Rear View
Ground Terminal
2-M6 Screws
Air Flow
Air Flow
Input Voltage
Model
4-M6 Screw Holes
217
(13) Three-phase 400 VAC, Model: SGDV-170D0A
4-M5 Screw Holes
135
5
2
5
0
6
SERVOPACK
Rear View
Air Flow
Air Flow
230 135 (75)
(17)
(
2
0
)
(
1
2
0
)
22
2
5
0
Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
1250.5
(Mounting Pitch)
2
3
8
.
5
0
.
5
(
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(11) Three-phase 400 VAC, Model: SGDV-1R9D0A, -3R5D0A, and -5R4D0A
5
110
SERVOPACK
Rear View
4-M4 Screw Holes
5
.
5
1
6
0
1
4
9
.
5
0
.
5
(
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)
1000.5
(Mounting Pitch)
(
2
0
)
(17)
(1
2
0
)
180
23 (25)
(75)
(4)
Air Flow Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
110
1
6
0
Air Flow
Two Terminals
Ground Terminal
2-M4 Screws
Nameplate
(12) Three-phase 400 VAC, Model: SGDV-8R4D0A and -120D0A
Air Flow
Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
110
2
5
0
Ground Terminal
2-M4 Screws
Nameplate
(
2
0
)(17)
(
1
2
0
)
180
22
(75)
(4)
5
110
SERVOPACK
Rear View
4-M5 Screw Holes
6
2
5
0
2
3
8
.
5
0
.
5
(
M
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)
1000.5
(Mounting Pitch)
Air Flow
SGDV-01/05
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Port Model Pin Manufacturer
CN1 10250-52A2PL 50 Sumitomo 3M Ltd.
CN2 53984-0671 6 Molex J apan Co., Ltd.
CN3 HDR-EC14LFDTN-SLE-PLUS 14 Honda Tsushin Kogyo Co., Ltd.
CN7 MNC23-5K5H00 5 ADVANCED-CONNECTEK INC.
CN8 1981080-1 8 Tyco Electronics AMP K.K.
Note: The connectors above or their equivalents are used for SERVOPACKs.
Connectors for Base-mounted SERVOPACKs
(14) Three-phase 400 VAC, Model: SGDV-210D0A and -260D0A
1800.5
(Mounting Pitch)
Terminal
2-M4 Screws
Ground Terminal
2-M6 Screws
Terminal
6-M6 Screws
Terminal
4-M6 Screws
CN2
CN8
CN1
CN7
CN3
Model
Input Voltage
230
230 (75)
(17)
(
2
0
)
(
1
2
0
)
210
13
25
SERVOPACK
Rear View
4-M6 Screw Holes Air Flow
Air Flow
3
5
0
3
5
0
7
.
5
3
3
5
0
.
5
(
M
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Air Flow
Air Flow
Ground Terminal
2-M6 Screws
Terminal
2-M4 Screws
Terminal
6-M6 Screws
Terminal
4-M6 Screws
230
4
0
0
CN2
CN8
CN1
CN7
CN3
Model
Input Voltage
(75)
(17) (
2
0
)
(1
2
0
)
250
13 1800.5
(Mounting Pitch)
230
25
SERVOPACK
Rear View
4-M6 Screw Holes
4
0
0
7
.
5
3
8
5
0
.
5
(
M
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P
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)
219
Air Flow
Air Flow
Ground Terminal
2-M4 Screws
Two Terminals
Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
(75)
23 24.5
170
(2)
20
1
9
5
1
9
5
1
7
.
5
1
6
0
7
.
5
7
1
8
0
0
.
5
(
M
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P
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)
1
6
6

M
i
n
.
40
SERVOPACK
Rear View
2-M4 Screw Holes
(17)
(
2
0
)
(
1
2
0
)
40
2 36
Air Flow
Air Flow
Air Flow
Ground Terminal
2-M4 Screws
Two Terminals
Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
(75)
23 24.5
160
(2)
36.5
1
9
5
1
9
5
1
7
.
5
1
6
0
7
.
5
7
1
8
0
0
.
5
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
1
6
6

M
i
n
.
70
SERVOPACK
Rear View
2-M4 Screw Holes
(17)
Cooling Fan
(
2
0
)
(
1
2
0
)
70
8.5 36
1Rack-mounted SERVOPACKs (6 kW or more models: duct-ventilated)
(1) Single-phase 100 VAC, Model: SGDV-R70F0A001, -R90F0A001, and -2R1F0A001
(2) Single-phase 100 VAC, Model: SGDV-2R8F0A001
(3) Three-phase 200 VAC, Model: SGDV-R70A0A001, -R90A0A001, and -1R6A0A001
40
20
SERVOPACK
Rear View
2-M4 Screw Holes
Ground Terminal
2-M4 Screws
Two Terminals
Air Flow
Air Flow
Nameplate
40
(17)
36 2
1
7
.
5
(2)
(25)
(75)
140
23 24.5
(
2
0
)
(
1
2
0
)
CN2
CN8
1
6
0
1
9
5
CN1
CN7
CN3
Model
Input Voltage
Cooling Fan
1
9
5
1
6
6

M
i
n
.
1
8
0
0
.
5
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
7
.
5
7
SGDV-01/05
A
n
a
l
o
g
/
P
u
l
s
e

T
y
p
e

S
E
R
V
O
P
A
C
K
s
220
(4) Three-phase 200 VAC, Model: SGDV-2R8A0A001
40
20
SERVOPACK
Rear View
2-M4 Screw Holes
Ground Terminal
2-M4 Screws
Two Terminals
Air Flow
Air Flow
Nameplate
40
(17)
36 2
1
7
.
5
(2)
(25)
(75) 170
23 24.5
(
2
0
)
(
1
2
0
)
CN2
CN8
1
6
0
1
9
5CN1
CN7
CN3
Model
Cooling Fan
Input Voltage
1
9
5
1
6
6

M
i
n
.
1
8
0
0
.
5
(
M
o
u
n
t
i
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g

P
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t
c
h
)
7
.
5
7
(5) Three-phase 200 VAC, Model: SGDV-3R8A0A001, -5R5A0A001, and -7R6A0A001
Air Flow
Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
70
1
6
0
Air Flow
Two Terminals
Ground Terminal
2-M4 Screws
Air Flow
1
9
5
1
7
.
5
36 18.5
Cooling Fan
(
2
0
)
(17)
(1
2
0
)
180
23 (25)
(75)
(2)
24.5
36.5
70
SERVOPACK
Rear View
2-M4 Screw Holes
7
.
5
1
9
5
1
8
0
0
.
5
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
7
1
6
6

M
i
n
.
Nameplate
Air Flow
Air Flow
Ground Terminal
2-M4 Screws
Two Terminals
Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
90
10 70
(75)
23 24.5
(2)
(25)
180
(17)
4-M4 Screw Holes
SERVOPACK
Rear View
90
20
7 7
.
5
1
9
5
1
6
6

M
i
n
.
1
9
5
1
6
0
1
7
.
5
1
8
0
0
.
5
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
(Mounting Pitch)
500.5
(
2
0
)
(
1
2
0
)
(6) Three-phase 200 VAC, Model: SGDV-120A0A001
221
Air Flow
Air Flow
Ground Terminal
2-M4 Screws
Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
(75)
22 24.5
180
(2)
(5)
27.2
2
1
5
2
1
5
1
7
.
5
1
8
0
7
.
5
7
2
0
0
0
.
5
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
500.5
(Mounting Pitch)
1
8
6

M
i
n
.
102.2
SERVOPACK
Rear View
4-M4 Screw Holes
(17)
(
2
0
)
(
1
2
0
)
(2.2)
100
102.2
Air Flow
Air Flow
Ground Terminal
2-M4 Screws
Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
(75)
22 24.5
210
(2)
(6)
30.5
2
8
5
2
8
5
1
7
.
5
2
5
0
7
.
5
7
2
7
0
0
.
5

(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
500.5
(Mounting Pitch)
2
5
6

M
i
n
.
116
SERVOPACK
Rear View
4-M5 Screw Holes
(17)
Cooling Fan
(
2
0
)
(
1
2
0
)
111
116
(2.5) (2.5)
Three-phase 200 VAC, Model: SGDV-180A0A001 and -200A0A001
SGDV-01/05
A
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/
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T
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S
E
R
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O
P
A
C
K
s
222
(9) Three-phase 200 VAC, SGDV-470A0A001 and -550AA001 (Duct-ventilated type)
(10) Three-phase 200 VAC, SGDV-590A0A001 and -780AA001 (Duct-ventilated type)
CN3
CN7
CN1
CN8
CN2
170
3
5
0
(
2
0
)
(17) (8)
(1
2
0
)
210
22 133 (77)
(75)
3
1
0
2
0
3
5
0
3
1
6

M
i
n
8
.
5
7
.
5
3
3
5
0
.
5

(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
1450.5
(Mounting Pitch)
7.5
170
160 Min 5
Punched
Hole
Terminal
6-M6 Screws
Terminal
5-M6 Screws
SERVOPACK
Rear View
Ground Terminal
2-M6 Screws
Air Flow
Air Flow
Input Voltage
Model
4-M6 Screw Holes
260
4
5
0
CN7
CN1
CN8
CN2
CN3
(
2
0
)
2
5
4
0
0
(17) (10)
(
1
2
0
)
267
22 160 (107)
(75)
7
.
5
9
4
5
0
4
1
5
4
3
5
0
.
5

(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
2350.5
(Mounting Pitch)
244 Min 8
260
4.5
Terminal
6-M6 Screws
Terminal
5-M6 Screws
SERVOPACK
Rear View
Ground Terminal
2-M6 Screws
Air Flow
Air Flow
Input Voltage
Model
4-M6 Screw Holes
Punched
Hole
223
(13) Three-phase 400 VAC, Model: SGDV-170D0A001
4-M5 Screw Holes
135
35
2
8
5
6
7
.
5
2
5
8

M
i
n
.
SERVOPACK
Rear View
Air Flow
Air Flow
230
24.5
135
20 80
(75)
(2)
(17)
(
2
0
)
(
1
2
0
)
22
2
8
5
1
7
.
5
2
5
0
Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
500.5
(Mounting Pitch)
2
7
0
0
.
5
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
(11) Three-phase 400 VAC, Model: SGDV-1R9D0A001, -3R5D0A001, and -5R4D0A001
110
48
SERVOPACK
Rear View
4-M4 Screw Holes
Ground Terminal
2-M4 Screws
Two Terminals
Air Flow
Air Flow
110
(17) 72 37
1
7
.
5
(2)
(25)
(75)
23 24.5
180
(
2
0
)
(
1
2
0
)
CN2
CN8
1
6
0
1
9
5CN1
CN7
CN3
Model
Input Voltage
1
9
5
1
6
6

M
i
n
.
1
8
0
0
.
5
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
500.5
(Mounting Pitch)
7
.
5
7
Nameplate
(12) Three-phase 400 VAC, Model: SGDV-8R4D0A001 and -120D0A001
30
110
SERVOPACK
Rear View
4-M5 Screw Holes
6
2
8
5
2
7
0
0
.
5
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
500.5
(Mounting Pitch)
7
.
5
(
2
0
)(17)
(
1
2
0
)
180
24.5 22
(75)
(2)
Air Flow
Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
110
2
5
0
Ground Terminal
2-M4 Screws
Air Flow
2
8
5
80 15
1
7
.
5
2
5
8

M
i
n
.
Nameplate
SGDV-01/05
A
n
a
l
o
g
/
P
u
l
s
e

T
y
p
e

S
E
R
V
O
P
A
C
K
s
224
Connectors for Rack-mounted SERVOPACKs
(14) Three-phase 400 VAC, Model: SGDV-210D0A001 and -260D0A001 (Duct-ventilated type)
2050.5
(Mounting Pitch)
Terminal
2-M4 Screws
Ground Terminal
2-M6 Screws
Terminal
6-M6 Screws
Terminal
4-M6 Screws
CN2
CN8
CN1
CN7
CN3
Model
Input Voltage
230
12.5
230 (75)
(17) (8)
(
2
0
)
2
9
4
2
1
(
1
2
0
)
210
13 133 (77)
7.5 190 Min.
SERVOPACK
Rear View
Punched
Hole
Air Flow
3
5
0
3
0
0

M
i
n
.
3
5
0
7
.
5
7
.
5
3
3
5
0
.
5
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
2050.5
(Mounting Pitch)
Terminal
2-M4 Screws
Ground Terminal
2-M6 Screws
Terminal
6-M6 Screws
Terminal
4-M6 Screws
CN2
CN8
CN1
CN7
CN3
Model
Input Voltage
230
216 7
230
(75)
(17)
(
2
0
)
3
2
5
4
3
(1
2
0
)
249.6
13 141 (108.6) 12
SERVOPACK
Rear View
Punched
Hole
4-M6 Screw Holes
Air Flow
Air Flow
4
0
0
3
6
4
4
0
0
7
.
5
8
.
5
3
8
5
0
.
5
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
Selecting Cables
Name Length Order No. Specifications Details
CN1
Cables for I/O Signals
Connector Terminal Converter
Unit
J USP-TA50PG-E (1)
Cables with Loose
Wires at One End
1 m J ZSP-CSI01-1-E
(2) 2 m J ZSP-CSI01-2-E
3 m J ZSP-CSI01-3-E
CN3
Digital Operator J USP-OP05A-1-E
\1l1 '\lJ 1lJ llJ REF 1J1l1
ALARM
l .ll SVON
'11l11 lll1'1 11'1
SERVOREAD WRITESERVO
YASKAWA
DIGITAL OPERATOR.l'1l1l'1
(3)
Digital Operator
Converter Cable
*1
0.3 m J ZSP-CVS05-A3-E
3
1
0
3
1
4 JZSP-CVS05-A3-E
(4)
CN7
Connection Cables
for Personal Computer
2.5 m J ZSP-CVS06-02-E (5)
CN5
Cables for Analog Monitor
1 m J ZSP-CA01-E (6)
CN8
Cables for Safety
Functions
Cables with
Connector
*2
3 m J ZSP-CVH03-03-E (7)
Connector Kit
*3
Contact Tyco Electronics AMP K.K.
Product name: Industrial Mini I/O D-shape Type1
Plug Connector Kit
Model: 2013595-1
225
1Cables for CN1

CN3

CN5

CN7

CN8 (Analog Voltage/Pulse Train Reference Type SERVOPACKs)
CN3
Cable for I/O Signals
Digital Operator
Digital Operator
Converter Cable
Cable for Analog Monitor
Safety Cable
'M+
G'C1 C1 GC1 REF 17GE
ALARM
177 CG
SVON
GC11 MC1E.GE
EGE
SERVO
READ WRITE
SERVO
YASKAWA
DIGITAL OPERATOR 1G+C+'7E
CN7
CN1
CN8
Connection Cable
Host Controller
CN5
Terminal Block and 0.5 m Connection Cable
Cable with Loose Wires at Peripheral Devices
SERVOPACK End
Cable with Connectors at Both Ends
With Connection Cable (1 m)
*1 : A converter cable is required to use series digital operators (model: J USP-OP05A) for series SERVOPACKs.
*2 : When using the safety function, connect this cable to the safety devices. Even when not using the safety function, use SERVOPACKs with the Safe J umper
Connector (model: J ZSP-CVH05-E) connected.
*3 : Use the connector kit when you make cables yourself.
JZSP-CVS06-02-E
Cable with Connctors at Both Ends
Selecting Cables
SGDV-01/05
A
n
a
l
o
g
/
P
u
l
s
e

T
y
p
e

S
E
R
V
O
P
A
C
K
s
226
(1) Connector Terminal Converter Unit for CN1
Configurations
Dimensional Drawings of Terminal Block (Units: mm) Dimensional Drawings of Cable
(2) Cable with Loose Wires at One End for CN1
Dimensional Drawings of Cable
1
19
33
16
32
50
1
1
2
49
50
SERVOPACK
Model: J USP-TA50PG-E
CN1 Cable Length: 500 mm
+50
-0
Model Cable Length (L)
J USP-TA50PG-E 0.5 m
J USP-TA50PG-1-E 1 m
J USP-TA50PG-2-E 2 m
1
19
33
16
32
50
1
1
2
49
50
Terminal Block (50P)
M3.5 Screw
Connector Plug (50P)
MR-50RMD2G+ 7 7
1
5
.
5
4
5
3.5 3.5
2
9
.
5
2-3.5 Dia.
247.5
2
2
0
.
5
4
3
.
5
Can be fixed on DIN rail
W
i
t
h

T
e
r
m
i
n
a
l

B
l
o
c
k
(
6
2
)
C
o
v
e
r

O
p
e
n
L
SERVOPACK End Connector (50P)
10150-6000EL (Sumitomo 3M Ltd.)
Shell
10350-52Z0-008 (Sumitomo 3M Ltd.)
Cable (Black)
AWG#28, 25P
UL20276 VW-1SC
Terminal Converter Unit-end Connector (50P)
MRP-50F01(Honda Tsushin Kogyo Co., Ltd.)
Case
MR-50L+ (Honda Tsushin Kogyo Co., Ltd.)
J ZSP-CSl01-1-E 1 m
J ZSP-CSl01-2-E 2 m
J ZSP-CSl01-3-E 3 m
L 100 mm
Sleeve F2 (Black)
SERVOPACK End
Connector 10150-6000EL (50P)
*
Case 10350-52Z0-008
*
Wire Markers
Cable (Black)
SSRFPVV-SBAWG#28 25P
UL20276VW?1SC
+10
-0
* : Manufactured by Sumitomo 3M Ltd.
Note : See the next page for the connection diagram.
Note: Shaded items are non-stock.
227
1Cable with Loose Wires at One End for CN1
Connection Diagram of J ZSP-CSI01--E Cable
1Connector Kit for CN1
Use the following connector and cable to assemble the
cable. The CN1 connector kit includes one case and one
connector.
Connector Kit
Model
Case Connector
Model Qty Model Qty
J ZSP-CSI9-1-E
10350-
52Z0-008*
1 set
10150-3000PE*
(Soldered)
1
Dimensional Drawings of Case
Dimensional Drawings of Connector
Item Specifications
Cable
Use twisted-pair or twisted-pair shielded
wire.
Applicable Wires AWG 24, 26, 28, 30
Cable Finished
Diameter
16 dia. max.
Cable Size
SG
PL1
SG
SEN
V-REF
SG
PULS
/PULS
T-REF
SG
SIGN
/SIGN
PL2
/CLR
CLR
PL3
PCO
/PCO
BAT (+)
BAT (-)
/V-CMP+
/V-CMP
/TGON+
/TGON
/S-RDY+
/S-RDY
1
3
2
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
Orange
OrangeGr
ay
Gray
White
White
Yellow
Yellow
Pink
Pink
Orange
Orange
Gray
White
White
Gray
Yellow
Yellow
Pink
Pink
Orange
Orange
Gray
Gray
White
White
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
Red
Black
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
1
1
1
1
1
1
1
1
1
1
2
2
2
2
2
2
2
2
2
2
3
3
3
3
3
3
Pin No.
Wire
Color
Signal
Marking
Color
SERVOPACK End
Dots
ALM+
ALM
PAO
/PAO
PBO
/PBO
ALO1
ALO2
ALO3
/S-ON
/P-CON
P-OT
N-OT
/ALM-RST
/P-CL
/N-CL
+24V-IN
-
-
-
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49_
50
Case
Yellow
Yellow
Pink
Pink
Orange
Orange
Gray
Gray
White
White
Yellow
Yellow
Pink
Pink
Orange
Orange
Gray
Gray
White
White
Yellow
Pink
Pink
Yellow
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
Red
Black
Black
3
3
3
3
4
4
4
4
4
4
4
4
4
4
5
5
5
5
5
5
5
5
5
5
Shield
Lead
Marker
1
3
2
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
: Represents
twisted-pair
wires.
Host Controller End
52.4 12.7
41.1
46.5
17.0
14.0
3
9
.
0
2
3
.
8
5
.
2
8
.
5
2.54
1.27
Pin No.26
Pin No.1
36.7
30.48
1
5
1.27
41.1
5
.
1
6
.
6
1
9
.
3
2
.
9
2
.
3
1
2
.
7
9
.
1
7
.
5
SGDV-01/05
A
n
a
l
o
g
/
P
u
l
s
e

T
y
p
e

S
E
R
V
O
P
A
C
K
s
228
\1l1
t\lJ 1lJ llJ REF 1J1l1
ALARM
l
.ll
SVON
t11l11 lll1t1
11t1
SERVO
READ WRITE
SERVO
YASKAWA
DIGITAL OPERATOR .lt1l1l11
2-M3 Screws, Depth 5
(For mounting digital operator)
57
1
1
1
17.8
Connector: HDR-E14MAG1+(Honda Tsushin Kogyo Co., Ltd.)
Case: HDR-E14LPA5(Honda Tsushin Kogyo Co., Ltd.)
1000
70
+30
0
1
2
0Nameplate
(4) Digital Operator Converter Cable for CN3
(Model: J ZSP-CVS05-A3-E)
Dimensional Drawings
(8)
300
+30
0
(35) (39)
(
2
1
)
(12.7)
(
2
9
.
5
)
Connector (14-pole)HDR-E14MAG1+(Honda Tsushin Kogyo Co., Ltd.) Connector (14-pole)10214-6202PL(Sumitomo 3M Ltd.)
3
1
0
3
1
4
CoverHDR-E14LPA5(Honda Tsushin Kogyo Co., Ltd.) CoverFA458036(Yasco Components Co., Ltd.)
JZSP-CVS05-A3-E
(
4
.
8

D
i
a
.
)
A converter cable is required to use series digital operators (model: J USP-OP05A) for series SERVOPACKs.
(3) Digital Operator (Model: J USP-OP05A-1-E)
(5) Connection Cable for Personal Computer for CN7
(Model: J ZSP-CVS06-02-E)
2,500
(100)
10 to 20
JZSP-CVS06-02-E
(55)
+100
0
Use a cable specified by Yaskawa.
When using other cables, operation cannot be guaranteed.
IMPORTANT
229
(6) Cable for Analog Monitor for CN5
(Model: J ZSP-CA01-E)
Dimensional Drawings Specifications
3 4
1 2
Socket DF11-4DS-2C*
ContactDF11-2428SCF*
1000 mm -0
+20
White
Red
Black
Black
View from Cable End
Pin No. Cable Color Signal Standard Settings
1 Red Analog Monitor 2 Motor speed : 1V/1000 min
-1
2 White Analog Monitor 1
Torque reference : 1V/100% rated
torque
3, 4
Black
(2 cables)
GND(0V)
* : Manufactured by Hirose Electric
Corporation.
Note : The specifications above are factory settings. Monitor specifications can be changed by
changing parameters Pn006 and Pn007.
(7) Cable with Connector for CN8
(Model: J ZSP-CVH03-03-E)
Connector Kit2013595-1
(Tyco Electronics AMP K.K.)
3000+150
(8)
(11)
(20)
(33)
Pin No. Signal Lead Color Marking Color
1 Not used
2 Not used
3 /HWBB1 White Black
4 /HWBB1 White Red
5 /HWBB2 Gray Black
6 /HWBB2 Gray Red
7 EDM1 Orange Black
8 EDM1 Orange Red
SGDV-01/05
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231
Model Designations
Code Specifications
11
MECHATROLINK-II communications
Reference Type (for rotary servomotors)
15
Reference Type (for linear servomotors)
vSeries
SGDV SERVOPACK
SGDV - R70 A 01 B 002000
Current
Interface
Code Specifications
F 100 VAC
A 200 VAC
D 400 VAC
Options
Voltage
Code Specifications
008000
Code
Code
200 V (Three Phase)
Code
400 V (Three Phase)
R70 0.05 R70* 0.05 1R9 0.5
R90 0.1 R90* 0.1 3R5 1.0
2R1 0.2 1R6* 0.2 5R4 1.5
2R8 0.4 2R8* 0.4 8R4 2.0
3R8 0.5 120 3.0
5R5* 0.75 170 5.0
7R6 1.0 210 6.0
120** 1.5 260 7.5
180 2.0 280 11
200 3.0 370 15
330 5.0
470 6.0
550 7.5
590 11
780 15
Code Specifications
A Fan-Cooling
B Fanless Cooling
Cooling Method
SGDV-11
MECHATROLINK-II Communications
Reference Type SERVOPACKs
SGDV-15
MECHATROLINK-II Type SERVOPACKs
SGDV-11/15
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Ratings
SERVOPACK Model SGDV- R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A 180A 200A 330A 470A 550A 590A 780A
rms
0.66 0.91 1.6 2.8 3.8 5.5 7.6 11.6 18.5 19.6 32.9 46.9 54.7 58.6 78
rms
2.1 2.9 6.5 9.3 11 16.9 17 28 42 56 84 110 130 140 170
Three-phase 200 V
(%)
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s
)
10000
1000
100
10
1
100 200 300 350
SGMJV
SGMAV-A5, 01, C2
SGMAV-02, 04, 06, 0810
SGMPS
10000
1000
100
10
1
100 200 300
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(
s
)
(%)
SERVOPACK Model SGDV- 1R9D 3R5D 5R4D 8R4D 120D 170D 210D 260D 280D 370D
rms
1.9 3.5 5.4 8.4 11.9 16.5 20.8 25.4 28.1 37.2
rms
5.5 8.5 14 20 28 42 55 65 70 85
Three-phase 400 V
2
Max.
torque
Rated
torque
Approx.
SGMGV-44A, -55A,
-75A
10000
1000
100
10
1
SGMGV-03A, -05A, -09A,
-13A-20A, -30A,
-1AA, -1EA
SGMGV-D
SGMSV-
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SERVOPACK Model SGDV- R70F R90F 2R1F 2R8F
rms
0.66 0.91 2.1 2.8
rms
2.1 2.9 6.5 9.3
Main Circuit (Single Phase) 100 to 115 VAC+10% to -15% 50/60 Hz
Control Circuit (Single Phase) 100 to 115 VAC+10% to -15% 50/60 Hz
Single-phase 100 V Single-phase 200 V
SERVOPACK Model SGDV- R70A R90A 1R6A 2R8A 5R5A 120
rms
0.66 0.91 1.6 2.8 5.5 11.6
rms
2.1 2.9 6.5 9.3 16.9 28
1Real-time communications
MECHATROLINK-II communications enable high-speed control for 30 stations at a maximum transmission speed of 10 Mbps
in a transmission cycle from 250 s to 4 ms (user setting). Such a high transmission speed allows real-time transmission of
various data required for control.
1Cost savings
Thirty stations can be connected to a single MECHATROLINK-II transmission line, so wiring costs and time are greatly
reduced. Also, only one signal connector is required on the host controller. And, the all-digital network eliminates the need for
conversion from digital to analog for speed/torque references and for a pulse generator to generate position references.
1High-precision motion control
The SGDV SERVOPACK when connected to the host controller in the MECHATROLINK-II network provides not only torque,
position, and speed control but also synchronized phase control that requires advanced control technology. The control mode
can be changed online so that the machine can move smoothly in complex motions with great efficiency.
Features
233
Specifications
Input Power
Supply
Main Circuit
Control Circuit
400 V 24 VDC 15%
Control Method
For 100 V, for 200 V, for 400 V, single-phase or three-phase full-wave rectification
IGBT PWM control, sine-wave driven
Feedback
Rotary Servomotors
Linear Servomotors Serial converter or serial data
Operating
Conditions
Surrounding/Storage Temperature Surrounding temperature: 0 to +55C, storage temperature: -20 to +85C
2
2
Locations subject to corrosive or flammable gases
Others
Compliant Standards
UL 508C
EN50178, EN55011 class A group 1, EN61800-3, EN61800-5-1
Configuration Base-mounted (Rack-mounting available as an option for some models. 6 kW or more models are duct-ventilated.)
Performance
Speed
Regulation*
I/O Signals Encoder Output Pulses
Communications
RS-422A
Communications
Function Status display, parameter settings, adjustment functions, utility functions
USB
Communications
1:N communications Compliant with USB1.1 standard
Function Status display, parameter settings, adjustment functions, utility functions
Display Power Charge
CHARGE for main circuit power supply input confirmation
One LED (orange)
Analog Monitor
Analog monitor connector built in for monitoring speed, torque and other reference signals.
Number of points: 2
Utility Functions Alarm history, JOG operation, origin search, etc.
Safety Functions
Input /HWBB1, /HWBB2: Hard wire base block signal
Compliant Standards EN954 category 3 Stop category 0, IEC61508 SIL 2
Option Card Function Feedback Serial encoder communications input for fully-closed loop control
*: Speed regulation is defined as follows:

Speed regulation=
100%
Rated motor speed
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SGDV-11/15
Specifications
1Rotary Servomotors
I/O Signal
Sequence
Input
Number of Channels 7 channels
Function
Signal allocations and positive/negative logics can be modified.
Homing deceleration switch signal (/DEC), external latch signal (/EXT1 to 3), forward run prohibited
(P-OT), reverse run prohibited (N-OT),
forward current limit (/P-CL), reverse current limit (/N-CL)
Sequence
Output
Fixed Output Servo alarm (ALM)
Output Signals which can
be allocated
Function
(/V-CMP), servomotor rotation detection (/TGON), servo ready (/S-RDY), torque limit
detection (/CLT), speed limit detection
(/VLT), brake interlock (/BK), warning (/WARN), NEAR (/NEAR)
Panel Operator
Display 7-segment 1-digit LED (red)
Switch Rotary switch: 16 positions, DIP switch: 4 poles
MECHATROLINK
Communications
Communications Protocol MECHATROLINK-II MECHATROLINK-I
Transmission Speed 10 Mbps 4 Mbps
Transmission Cycle 250 s, 0.5 to 4.0 ms (multiple of 0.5 ms) 2 ms
Number of Words for
Link Transmission
Can be switched between
17-bytes /station and 32-bytes / station.
17-bytes /station
Station Address 41H to 5FH (max. number of slaves: 30)
Command Method
Performance Position control, speed control, and torque control through MECHATROLINK communications
Command Input
MECHATROLINK commands (for sequence, motion, data setting/reference, monitor, adjustment, and
other commands.)
Specifications
1Linear Servomotors
I/O Signal
Sequence
Input
Function
Homing deceleration switch signal (/DEC), external latch signal (/EXT1 to 3), forward run prohibited
(P-OT), reverse run prohibited (N-OT),
Sequence
Output
be allocated
Function
Signal allocations and positive/negative logics can be modified. Positioning
completion (/COIN), speed coincidence detection
(/V-CMP), servomotor movement detection (/TGON),
servo ready (/S-RDY), force limit detection (/CLT),
speed limit detection (/VLT), brake interlock (/BK),
warning (/WARN), NEAR (/NEAR)
Panel Operator
Display 7-segment 1-digit LED (red)
Switch Rotary switch: 16 positions, piano switch: 4 poles
MECHATROLINK
Communications
Communications Protocol MECHATROLINK-II MECHATROLINK-I
Transmission Speed 10 Mbps 4 Mbps
Transmission Cycle 250 s, 0.5 to 4.0 ms (multiple of 0.5 ms) 2 ms
Number of Words for
Link Transmission
Can be switched between
17-bytes /station and 32-bytes / station.
17-bytes /station
Station Address 41H to 5FH (max. number of slaves: 30)
Command Method
Performance
Position control, speed control, and force control through
Command Input
MECHATROLINK commands and MECHATROLINK-II commands
(for sequence, motion, data setting/reference, monitor, adjustment, and other commands.)
235
*1: For the optional JUSP-RA04-E regenerative resistor unit.
Main Circuit
Power
Supply
Applicable
Servomotor
Max.
Capacity
kW
SERVOPACK
Model
SGDV-
Power Supply
Capacity
kVA
Output Current
A
Main Circuit
Power Loss
W
Regenerative
Resistor
Power Loss
W
Control Circuit
Power Loss
W
Total Power
Loss
W
Signal-phase
100 V
0.05 R70F 0.2 0.66 5.4
17
22.4
0.1 R90F 0.3 0.91 7.8 24.8
0.2 2R1F 0.7 2.1 14.4 31.4
0.4 2R8F 1.4 2.8 25.6 42.6
Single-phase
200 V
0.05 R70A 0.2 0.66 5.2
17
22.2
0.1 R90A 0.3 0.91 7.4 24.4
0.2 1R6A 0.7 1.6 13.7 30.7
0.4 2R8A 1.2 2.8 24.9 41.9
0.75 5R5A 1.9 5.5 52.7 8 77.7
1.5 120A 4 11.6 68.2 10 22 100.2
Three-phase
200 V
0.05 R70A 0.2 0.66 5.1
17
22.1
0.1 R90A 0.3 0.91 7.3 24.3
0.2 1R6A 0.6 1.6 13.5 30.5
0.4 2R8A 1 2.8 24.0 41.0
0.5 3R8A 1.4 3.8 20.1
8
45.1
0.75 5R5A 1.6 5.5 43.8 68.8
1.0 7R6A 2.3 7.6 53.6 78.6
1.5 120A 3.2 11.6 65.8 10
22
97.8
2.0 180A 4 18.5 111.9
16
149.9
3.0 200A 5.9 19.6 113.8 161.4
5.0 330A 7.5 32.9 263.7 36 27 326.7
6.0 470A 10.7 46.9 279.4 (180)
*1
33
312.4
7.5 550A 14.6 54.7 357.8
(350)
*2
390.8
11 590A 21.7 58.6 431.7
48
479.7
15 780A 29.6 78 599.0 647.0
Three-phase
400 V
0.5 1R9D 1.1 1.9 24.6
14 21
59.6
1.0 3R5D 2.3 3.5 46.1 81.1
1.5 5R4D 3.5 5.4 71.3 106.3
2.0 8R4D 4.5 8.4 77.9
28 25
130.9
3.0 120D 7.1 11.9 108.7 161.7
5.0 170D 11.7 16.5 161.1 36 24 221.1
6.0 210D 12.4 20.8 172.7
(180)
*3
27
199.7
7.5 260D 14.4 25.7 218.6 245.6
11 280D 21.9 28.1 294.6
(350)
*4
30
324.6
15 370D 30.6 37.2 403.8 433.8
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SGDV-11/15
140
23 (25)
(75)
(
1
5
)(7)
(1
2
0
)
35
40
SERVOPACK Rear View
2-M4 Screw Holes
5
1
6
0
1
5
0
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5
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(4)
Input Voltage
Model
CN6
40
1
6
0
CN3
CN7
CN1
CN8
CN2
Two Terminals
Ground Terminal
2-M4 Screws
Nameplate
Air Flow
Air Flow
Ground Terminal
2-M4 Screws
Nameplate
Two Terminals
Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
75
23
170
4
5
1
6
0
1
6
0
5
1
8
0
0
.
5
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Mountiong Hole Diagram
SERVOPACK Rear View
2-M4 Screw Holes
7
1
5
1
2
0
40
CN6
300.5
Mounting Pitch
Air Flow
Air Flow
Ground Terminal
2-M4 Screws
Two Terminals
Nameplate
Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
75
23
180
4
6
1
6
0
1
6
0
5
1
5
0
0
.
5
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SERVOPACK
Rear View
3-M4 Screw Holes
7
1
5
1
2
0
70
CN6
580.5
Mounting Pitch
Air Flow
Cooling Fan
237
(5) Three-phase 200 VAC, Model: SGDV-3R8A1A, -5R5A1A, and -7R6A1A
5
40
SERVOPACK Rear View
2-M4 Screw Holes
5
1
6
0
1
5
0
0
.
5
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300.5
(Mounting Pitch)
(
1
5
)
(7)
(1
2
0
)
170
23 (25)
(75)
(4)
Input Voltage
Model
CN6
CN3
CN7
CN1
CN8
CN2
40
1
6
0
Two Terminals
Ground Terminal
2-M4 Screws
Nameplate
Air Flow
Input Voltage
Model
CN6
CN3
CN7
CN1
CN8
CN2
70
1
6
0
Air Flow
Two Terminals
Ground Terminal
2-M4 Screws
Air Flow
(
1
5
)(7)
(
1
2
0
)
180
23 (25)
(75)
(4)
Cooling Fan
6
70
SERVOPACK
Rear View
3-M4 Screw Holes
5
1
6
0
1
5
0
0
.
5
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580.5
(Mounting Pitch)
Nameplate
Air Flow
Air Flow
Ground Terminal
2-M4 Screws
Two Terminals
Nameplate
Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
(75)
23
180
(4)
5
1
6
0
1
6
0
5
1
5
0
0
.
5
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90
SERVOPACK Rear View
4-M4 Screw Holes
(7)
(
1
5
)
(
1
2
0
)
90
CN6
800.5
Mounting Pitch (25)
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SGDV-11/15
Air Flow
Air Flow
Ground Terminal
2-M4 Screws
Nameplate
Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
75
22
210
(5)
2
5
0
2
5
0
6
2
3
8
0
.
5
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110
SERVOPACK
Rear View
4-M4 Screw Holes
(7)
(
1
5
)
(
1
2
0
)
110
CN6
1000.5
(Mounting Pitch)
Cooling Fan 5
Three-phase 200 VAC, Model: SGDV-180A1A and -200A1A
Air Flow
Air Flow
Ground Terminal
2-M4 Screws
Nameplate
Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
(75)
22
180
(4) 5
1
8
0
1
8
0
5
1
7
0
0
.
5
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100
SERVOPACK
Rear View
4-M4 Screw Holes
(7)
(
1
5
)
(
1
2
0
)
100
CN6
900.5
Mounting Pitch
239
CN3
CN6
CN7
CN1
CN8
CN2
170
3
5
0
7
.
5
3
5
0
25
170
(
1
5
)
(7)
(1
2
0
)
210
22
(75)
Air Flow
Air Flow
Input Voltage
Model
Ground Terminal
2-M6 Screws
Terminal
6-M6 Screws
Terminal
5-M6 Screws
SERVOPACK
Rear View
4-M6 Screw Holes
3
3
5
0
.
5

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1200.5
(Mounting Pitch)
260
4
5
0
CN7
CN1
CN8
CN2
CN3
CN6
(
1
5
)
(7)
(
1
2
0
)
275
22
(75)
7
.
5
4
5
0
4
3
5
0
.
5
(
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2000.5
(Mounting Pitch)
30
260
Air Flow
Air Flow
Input Voltage
Model
Ground Terminal
2-M6 Screws
Terminal
6-M6 Screws
Terminal
5-M6 Screws
SERVOPACK
Rear View
4-M6 Screw Holes
Approx. Mass:10.2 kg
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SGDV-11/15
5
110
SERVOPACK
Rear View
4-M5 Screw Holes
6
2
5
0
2
3
8
.
5
0
.
5
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1000.5
(Mounting Pitch)
(
1
5
)
(7)
(
1
2
0
)
180
22
(75)
(4)
Air Flow
Input Voltage
Model
CN6
CN3
CN7
CN1
CN8
CN2
110
2
5
0
Ground Terminal
2-M4 Screws
Air Flow
Nameplate
5
110
SERVOPACK
Rear View
4-M4 Screw Holes
5
.
5
1
6
0
1
4
9
.
5
0
.
5
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1000.5
(Mounting Pitch)
(
1
5
)
(7)
(
1
2
0
)
180
23 (25)
(75)
(4)
Air Flow
Input Voltage
Model
CN6
CN3
CN7
CN1
CN8
CN2
110
1
6
0
Air Flow
Two Terminals
Ground Terminal
2-M4 Screws
Nameplate
(12) Three-phase 400 VAC, Model: SGDV-8R4D1A, and -120D1A
Air Flow
Air Flow
Input Voltage
Model
CN6
CN3
CN7
CN1
CN8
CN2
2
5
0
135
(
1
5
)
(7)
(
1
2
0
)
22
230
(75)
5
135
SERVOPACK Rear View
4-M5 Screw Holes
6
2
5
0
2
3
8
.
5
0
.
5

(
M
o
u
n
t
i
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g

P
i
t
c
h
)
1250.5
(Mounting Pitch)
241
CN2 53984-0671 6 Molex Japan Co., Ltd.
1800.5
(Mounting Pitch)
Terminal
2-M4 Screws
Ground Terminal
2-M6 Screws
Terminal
6-M6 Screws
Terminal
4-M6 Screws
CN2
CN8
CN1
CN7
CN3
CN6
Model
Input Voltage
230
230 (75)
(7)
(
1
5
)
(1
2
0
)
210
13
25
SERVOPACK
Rear View
Air Flow
3
5
0
3
5
0
7
.
5
3
3
5
0
.
5
(
M
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u
n
t
i
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g

P
i
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c
h
)
Ground Terminal
2-M6 Screws
Terminal
2-M4 Screws
Terminal
6-M6 Screws
Terminal
4-M6 Screws
230
4
0
0
CN2
CN8
CN1
CN7
CN3
Input Voltage
CN6
(75)
(7)
(
1
5
)
(1
2
0
)
250
13 1800.5
(Mounting Pitch)
230
25
SERVOPACK
Rear View
4-M6 Screw Holes
4
0
0
7
.
5
3
8
5
0
.
5
(
M
o
u
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t
i
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g

P
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c
h
)
Air Flow
Air Flow
Model
M
E
C
H
A
T
R
O
L
I
N
K
-
I
I

T
y
p
e

S
E
R
V
O
P
A
C
K
s
242
SGDV-11/15
140
24.5 23 (25)
(75)
(
1
5
)
(7)
Input Voltage
(2)
(
1
2
0
)
Model
CN6
36 2
40
1
9
5
1
6
0
1
7
.
5
Air Flow
CN3
CN7
CN1
CN8
CN2
Two Terminals
Ground Terminal
2-M4 Screws
20
40
SERVOPACK Rear View
2-M4 Screw Holes
1
6
6

M
i
n
.
7
7
.
5
1
9
5
1
8
0
0
.
5
(
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P
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Air Flow
Nameplate
Cooling Fan
1Rack-mounted SERVOPACKs (6 kW or more models: duct-ventilated)
(1) Single-phase 100 VAC, Model: SGDV-R70F1A001, -R90F1A001, and -2R1F1A001
(2) Single-phase 100 VAC, Model: SGDV-2R8F1A001
(3) Three-phase 200 VAC, Model: SGDV-R70A1A001, -R90A1A001, and -1R6A1A001
Air Flow
Air Flow
Ground Terminal
2-M4 Screws
Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
(75)
22 24.5
170
(2)
1
9
5
1
9
5
7
1
8
0
0
.
5

(
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P
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)
20
SERVOPACK Rear View
2-M4 Screw Holes (7)
(
1
5
)
(
1
2
0
)
40
CN6
40
Two Terminals
1
6
0
36 2
1
7
.
5
7
.
5
1
6
6

M
i
n
.
Air Flow
Air Flow
Ground Terminal
2-M4 Screws
Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
75
23 24.5
180
2
1
9
5
1
9
5
7
1
8
0
0
.
5
M
o
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t
i
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g

P
i
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c
h
36.5
SERVOPACK Rear View
2-M4 Screw Holes
7
1
5
1
2
0
70
CN6
70
Two Terminals
1
6
0
36 18.5
1
7
.
5
7
.
5
1
6
6

M
i
n
.
Air Flow
Cooling Fan
243
Air Flow
Air Flow
Ground Terminal
2-M4 Screws
Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
75
25 23 24.5
180
2
1
9
5
1
9
5
7
1
8
0
0
.
5
(
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)
Mounting Pitch
500.5 20
SERVOPACK
Rear View
4-M4 Screw Holes
7
1
5
1
2
0
90
CN6
90
Two
Terminals
Name Plate
1
6
0
70 10
1
7
.
5
7
.
5
1
6
6

M
i
n
.
(4) Three-phase 200 VAC, Model: SGDV-2R8A1A001
(5) Three-phase 200 VAC, model: SGDV-3R8A1A001, -5R5A1A001, and -7R6A1A001
20
40
SERVOPACK Rear View
2-M4 Screw Holes
7
1
9
5
1
8
0
0
.
5
(
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g

P
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)
7
.
5
1
6
6

M
i
n
.
(
1
5
)(7)
(
1
2
0
)
170
23 (25)
(75)
(2)
24.5
Air Flow
Input Voltage
Model
CN6
CN3
CN7
CN1
CN8
CN2
40
1
6
0
Two Terminals
Ground Terminal
2-M4 Screws
36 2
1
9
5
1
7
.
5
Air Flow
Nameplate
Cooling Fan
36.5
70
SERVOPACK
Rear View
2-M4 Screw Holes
7
1
9
5
1
8
0
0
.
5
(
M
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t
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g

P
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c
h
)
1
6
6

M
i
n
.
7
.
5
(
1
5
)(7)
(
1
2
0
)
180
23 (25)
(75)
(2)
24.5
Cooling Fan
Air Flow
Air Flow
Input Voltage
Model
CN6
CN3
CN7
CN1
CN8
CN2
70
1
6
0
Two Terminals
Ground Terminal
2-M4 Screws
1
9
5
Air Flow
1
7
.
5
18.5 36
Nameplate
M
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C
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R
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L
I
N
K
-
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T
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S
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P
A
C
K
s
244
SGDV-11/15
Air Flow
Air Flow
Ground Terminal
2-M4 Screws
Name Plate
Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
(75)
22
(2)
180
(5)
24.5 27.2
2
1
5
1
8
6

M
i
n
.
2
1
5
1
8
0
1
7
.
5
7
.
5
7
2
0
0
0
.
5
(
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)
102.2
SERVOPACK
Rear View
4-M4 Screw Holes (7)
(
1
5
)
1
2
0
100
(2.2)
102.2
CN6
500.5
Mounting Pitch
Air Flow
Ground Terminal
2-M4 Screws
Name Plate
Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
75 6
22 24.5
210
2
2
8
5
2
8
5
7
2
7
0
0
.
5
(
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500.5
Mounting Pitch
30.5
SERVOPACK
Rear View
4-M5 Screw Holes
7
1
5
1
2
0
111
116
2.5 2.5
CN6
116
2
5
0
1
7
.
5
7
.
5
2
5
6

M
i
n
.
Air Flow
Cooling Fan
Three-phase 200 VAC, Model: SGDV-180A1A001 and -200A1A001
245
(9) Three-phase 200 VAC, Model: SGDV-470A1A001 and -550A1A001 (Duct-ventilated type)
(10) Three-phase 200 VAC, Model: SGDV-580A1A001 and -780A1A001 (Duct-ventilated type)
CN3
CN6
CN7
CN1
CN8
CN2
170
3
5
0
(8)
3
1
0
2
0
(
1
5
)
(7)
(1
2
0
)
210
22 133 (77)
(75)
3
5
0
3
1
6

M
i
n
8
.
5
7
.
5
3
3
5
0
.
5

(
M
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g

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)
7.5
170
160 Min 5
Air Flow
Air Flow
Input Voltage
Model
Ground Terminal
2-M6 Screws
Terminal
6-M6 Screws
Terminal
5-M6 Screws
SERVOPACK
Rear View
4-M6 Screw Holes
Punched
Hole
1450.5
(Mounting Pitch)
260
4
5
0
CN7
CN1
CN8
CN2
CN3
CN6
(
1
5
)
2
5
4
0
0
(7)
(
1
2
0
)
267
22 160 (107)
(75)
(10) 7
.
5
9
4
5
0
4
1
5

M
i
n
4
3
5
0
.
5

(
M
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)
2350.5
(Mounting Pitch)
244 Min 8
260
4.5
Air Flow
Air Flow
Input Voltage
Model
Ground Terminal
2-M6 Screws
Terminal
6-M6 Screws
Terminal
5-M6 Screws
SERVOPACK
Rear View
4-M6 Screw Holes
Punched
Hole
M
E
C
H
A
T
R
O
L
I
N
K
-
I
I

T
y
p
e

S
E
R
V
O
P
A
C
K
s
246
SGDV-11/15
Air Flow
Input Voltage
Model
CN6
CN3
CN7
CN1
CN8
CN2
2
8
5
Ground Terminal
2-M4 Screws
Nameplate
2
5
0
Air Flow
110
80 15
1
7
.
5
(
1
5
)
(7)
(
1
2
0
)
180
24.5 22
(75)
(2)
30
110
SERVOPACK Rear View
4-M5 Screw Holes
6
2
8
5
2
7
0
0
.
5
(
M
o
u
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t
i
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g

P
i
t
c
h
)
500.5
(Mounting Pitch)
2
5
8

M
i
n
.
7
.
5
Air Flow
Input Voltage
Model
CN6
CN3
CN7
CN1
CN8
CN2
110
1
6
0
Air Flow
Two Terminals
Ground Terminal
2-M4 Screws
1
9
5
1
7
.
5
37 72
(
1
5
)
(7)
(
1
2
0
)
180
23
(25)
(75)
(2)
24.5
48
110
SERVOPACK
Rear View
4-M4 Screw Holes
7
.
5
1
9
5
1
8
0
0
.
5
(
M
o
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t
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g

P
i
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c
h
)
500.5
(Mounting Pitch)
7
1
6
6

M
i
n
.
Nameplate
(11) Three-phase 400 VAC, Model: SGDV-1R9D1A001, -3R5D1A001, and -5R4D1A001
(12) Three-phase 400 VAC, Model: SGDV-8R4D1A001 and -120D1A001
(
1
5
)
(7)
(
1
2
0
)
230
24.5
22
(75)
(2)
35
135
SERVOPACK
Rear View
4-M5 Screw Holes
7
.
5
2
8
5
2
7
0
0
.
5
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
500.5
(Mounting Pitch)
6
2
5
8

M
i
n
.
135
Air Flow
Input Voltage
Model
CN6
CN3
CN7
CN1
CN8
CN2
Air Flow
80 20
1
7
.
5
2
5
0
2
8
5
(13) Three-phase 400 VAC, Model: SGDV-170D1A001
247
Connectors for Rack-mounted SERVOPACKs
2050.5
(Mounting Pitch)
Terminal
2-M4 Screws
Ground Terminal
2-M6 Screws
Terminal
6-M6 Screws
Terminal
4-M6 Screws
CN2
CN8
CN1
CN7
CN3
CN6
Model
Input Voltage
230
12.5
230 (75)
(7) (8) (
1
5
)
2
9
4
2
1
(1
2
0
)
210
13 133 (77) 7.5 190 Min.
SERVOPACK
Reae View
Punched
Hole
Air Flow
3
5
0
3
0
0

M
i
n
.
3
5
0
7
.
5
7
.
5
3
3
5
0
.
5
(
M
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t
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g

P
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c
h
)
2050.5
(Mounting Pitch) Terminal
2-M4 Screws
Ground Terminal
2-M6 Screws
Terminal
6-M6 Screws
Terminal
4-M6 Screws
CN2
CN8
CN1
CN7
CN3
CN6
Model
Input Voltage
230
216 7
230
(75)
(7)
(
1
5
)
3
2
5
4
3
(1
2
0
)
249.6
13 141 (108.6)
12
SERVOPACK
Rear View
Punched
Hole
Air Flow
4
0
0
3
6
4
4
0
0
7
.
5
8
.
5
3
8
5
0
.
5
(
M
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t
i
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g

P
i
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c
h
)
M
E
C
H
A
T
R
O
L
I
N
K
-
I
I

T
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p
e

S
E
R
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O
P
A
C
K
s
248
SGDV-11/15
Selecting Cables
1Cables for CN1

CN3

CN5

CN6

CN7

CN8
(MECHATROLINK-II Communications Reference Type SERVOPACKs)
CN1
Connector Kit JZSP-CSI9-2-E (1)
Connector Terminal
Converter Unit
0.5 m SBK-U-VBA-A5
(2) 1 m SBK-U-VBA-01
3 m SBK-U-VBA-03
Cable with Loose wire
at One End
1 m JZSP-CSI02-1-E
(3) 2 m JZSP-CSI02-2-E
3 m JZSP-CSI02-3-E
CN3
Digital Operator JUSP-OP05A-1-E (4)
Digital Operator
Converter Cable
*1
0.3 m JZSP-CVS05-A3-E (5)
CN7 Connection Cables
2.5 m JZSP-CVS06-02-E (9)
CN6A

CN6B
MECHATROLINK-II
Communication Cable
Cables with Connectors at
Both Ends
0.5 m JEPMC-W6002-A5-E
(7) 1 m JEPMC-W6002-01-E
- JEPMC-W6002--E
Terminator JEPMC-W6022-E (8)
CN5

1 m JZSP-CA01-E (6)
CN8

Cables for Safety
Functions
Cables with
Connector
*2
3 m JZSP-CVH03-03-E (10)
Connector kit
*3
Product name : Industrial Mini I/O D-shape Type1 Plug Connector Kit
Model : 2013595-1
Soldered
SERVOPACK End
CN1
CN5
CN6
CN3
CN7
CN8
Digital Operator
Connection Cable
Connect to the
MECHATROLINK-2
MECHATROLINK-2
Communication Cable
LED Indicator for
External Device
Digital Operator
Converter Cable
Safety Cable
ALARM
l .ll SVON
'11l11 lll1'1 11'1
YASKAWA
3
1
0
3
1
4JZSP-CVS05-A3-E
*1 : A converter cable is required to use series digital operators (model: JUSP-OP05A) for series SERVOPACKs.
*2 : When using the safety function, connect this cable to the safety devices.
Even when not using the safety function, use SERVOPACKs with the Safe Jumper Connector (model: JZSP-CVH05-E) connected.
JZSP-CVS06-02-E
249
(1) Connector Kit for CN1
Use the following connector and cable to assemble the cable. The
CN1 connector kit includes one case and one connector.
Connector Kit
Model
Case Connector
Model Qty Model Qty
JZSP-CSI9-2-E 10326-52A0-008* 1 set
10126-3000PE*
(Soldered)
1
Item Specifications
Cable
wire.
Applicable Wires AWG24, 26, 28, 30
Cable Finished Diameter 16 dia. max.
Cable Size
37.2 12.7
25.8
31.3
12.0
14.0
3
9
.
0
2
3
.
8
5
.
2
1
0
.
0
(2) Connector Terminal Converter Unit for CN1 (SBK-U-VBA-xx)
9
.
1
7
.
5
1.27
1
2
.
7
2
1
.
9
6
.
8
1
9
.
5
21.5
25.8
1
5
15.24
Signal Function
1 /BK+ (/SO1+) Brake interlock output (+) (General purpose output 1 (+))
2 /BK- (/SO1-) Brake interlock output (-) (General purpose output 1 (-))
3 ALM+ Servo alarm output (+)
4 ALM- Servo alarm output (-)
5 -
6 +24VIN Control power supply for sequence signal input
7 P-OT (/SI1) Forward run prohibited input (General purpose input 1)
8 N-OT (/SI2) Reverse run prohibited input (General purpose input 2)
9 /DEC (/SI3)
Zero-point return deceleration switch input
(General purpose input 3)
10 /EXT1 (/SI4) External latch signal 1 input (General purpose input 4)
13 /SI0 General purpose input 0
14 BAT (+) Battery (+) input
15 BAT (-) Battery (-) input
16 SG Signal ground
17 PAO Phase-A pulse output (+)
18 /PAO Phase-A pulse output (-)
19 PBO Phase-B pulse output (+)
20 /PBO Phase-B pulse output (-)
21 PCO Phase-C pulse output (+)
22 /PCO Phase-C pulse output (-)
23 /SO2+ General purpose output 2 (+)
24 /SO2- General purpose output 2 (-)
SGDV Mechatrolink-II type / SGDV Option type
Pin No.
SBK-U-VBA-xx Function Chart for SGDV Servo Amplifier
Note: General purpose input and output signals are shown with their default signals assigned - signal
assignment may have been changed by parameter
M
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s
250
SGDV-11/15
(4) Digital Operator (Model: JUSP-OP05A-1-E)
\1l1
ALARM
l
.ll
SVON
t11l11 lll1t1
11t1
SERVO
READ WRITE
SERVO
YASKAWA
57
1
1
1
1
2
0
17.8
1000
70
+30
0
Nameplate
(Model: JZSP-CVS05-A3-E)
(8)
300
+30
0
(35) (39)
(
2
1
)
(12.7)
(
2
9
.
5
)
(
4
.
3

D
i
a
)
3
1
0
3
1
4JZSP-CVS05-A3-E
Connector (14-pole)HDR-E14MAG1+
(Honda Tsushin Kogyo Co., Ltd.)
Connector (14-pole)10214-6202PL
(Sumitomo 3M Ltd.)
CoverHDR-E14LPA5
CoverFA458036
(Yasco Components Co., Ltd.)
A converter cable is required to use series digital operators
(model: JUSP-OP05A) for series SERVOPACKs.
/BK+
/BK
ALM+
ALM
+24VIN
P-OT
N-OT
/DEC
/EXT1
/EXT2
/EXT3
/SI0
BAT+
BAT
SG
PAO
/PAO
PBO
/PBO
PCO
/PCO
/SO2+
/SO2
/SO3+
/SO3
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
Blue
Blue
Pink
Pink
Green
Green
Orange
Orange
Gray
Gray
Blue
Blue
Pink
Green
Green
Pink
Orange
Orange
Gray
Gray
Blue
Blue
Pink
Pink
Green
Green
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
Red
Black
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
1
1
1
1
1
1
1
1
1
1
2
2
2
2
2
2
2
2
2
2
3
3
3
3
3
3
Pin No.
Wire
Color
Signal
Marking
Color
SERVOPACK End
Dots
Lead
Marker
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
Represents
twisted-pair
wires.
Host
Controller End
1 Cable with Loose Wires at One End for CN1
Connection Diagram of JZSP-CSI02--E Cable
Model Cable Length
JZSP-CSI02-1-E 1 m
JZSP-CSI02-2-E 2 m
JZSP-CSI02-3-E 3 m
SERVOPACK End
Connector 10126-6000EL (by Sumitomo 3M Ltd.)
Shell 10326-52A0-008
Cable (Ivory)
SSRFPVV-SB AWG#28 13P
UL20276 VW-1SC
L
3
7
.
2
14 100
+10
-0
3 Dia. Wire Markers
(
6
.
3

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)
251
(Model: JZSP-CA01-E)
3 4
1 2
Socket DF11-4DS-2C*
Contact DF11-2428SCF*
1000 -0
+20
White
Red
Black
Black
View from Cable End
-1
torque
3, 4
Black
(2 cables)
GND(0V)
* : Manufactured by Hirose Electric Corporation.
Note : The specifications above are factory settings. Monitor specifications can be changed by changing parameters Pn006 and Pn007.
Specifications
(7) MECHATROLINK-II Communications Cable for CN6
(Model: JEPMC-W6002--E)
(8) MECHATROLINK-II Terminator for CN6
(Model : JEPMC-W6022-E)
L
(8)
2
1
46
Model Cable Length(L)
JEPMC-W6002-A5-E 0.5 m
JEPMC-W6002-01-E 1.0 m
JEPMC-W6002-03-E 3.0 m
JEPMC-W6002-05-E 5.0 m
JEPMC-W6002-10-E 10.0 m
JEPMC-W6002-20-E 20.0 m
JEPMC-W6002-30-E 30.0 m
JEPMC-W6002-40-E 40.0 m
JEPMC-W6002-50-E 50.0 m
Cable with Connectors at Both Ends Cable with Ferrite Core
JEPMC-W6003-01-E 1.0 m
JEPMC-W6003-03-E 3.0 m
JEPMC-W6003-05-E 5.0 m
JEPMC-W6003-10-E 10.0 m
JEPMC-W6003-20-E 20.0 m
JEPMC-W6003-30-E 30.0 m
JEPMC-W6003-40-E 40.0 m
JEPMC-W6003-50-E 50.0 m
L
IMPORTANT Use a MECHATROLINK-II communications cable specified by Yaskawa. When using other cables, noise resistance
may be reduced, and operation cannot be guaranteed.
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252
SGDV-11/15
(Model: JZSP-CVS06-02-E)
2,500
(100)
10 to 20
JZSP-CVS06-02-E
(55)
+100
0
(Model: JZSP-CVH03-03-E)
3000+150
(8)
(11)
(20)
(33)
1 Not used
2 Not used
4 /HWBB1+ White Red
5 /HWBB2 Gray Black
6 /HWBB2+ Gray Red
7 EDM1 Orange Black
8 EDM1+ Orange Red

IMPORTANT
253
Model Designations
Code Specifications
21
MECHATROLINK-III communications
Reference Type (for rotary servomotors)
25
Reference Type (for linear servomotors)
vSeries
SGDV SERVOPACK
SGDV - R70 A 01 B 002000
Current
Interface
Code Specifications
F 100 VAC
A 200 VAC
D 400 VAC
Options
Voltage
Code Specifications
008000
Code
Code
200 V (Three Phase)
Code
400 V (Three Phase)
R70 0.05 R70* 0.05 1R9 0.5
R90 0.1 R90* 0.1 3R5 1.0
2R1 0.2 1R6* 0.2 5R4 1.5
2R8 0.4 2R8* 0.4 8R4 2.0
3R8 0.5 120 3.0
5R5* 0.75 170 5.0
7R6 1.0 210 6.0
120** 1.5 260 7.5
180 2.0 280 11
200 3.0 370 15
330 5.0
470 6.0
550 7.5
590 11
780 15
Code Specifications
A Fan-Cooling
B Fanless Cooling
Cooling Method
SGDV-21
MECHATROLINK-III Communications
Reference Type SERVOPACKs
SGDV-25
254
Ratings
(%)
D
e
t
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c
t
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g

t
i
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(
s
)
10000
1000
100
10
1
100 200 300 350
SGMJV
SGMAV-A5, 01, C2
SGMAV-02, 04, 06, 0810
SGMPS
10000
1000
100
10
1
100 200 300
D
e
t
e
c
t
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g

t
i
m
e

(
s
)
(%)
SERVOPACK Model: SGDV- R70F R90F 2R1F 2R8F
Continuous Output Current Arms 0.66 0.91 2.1 2.8
Max. Output Current Arms 2.1 2.9 6.5 9.3
Main Circuit Single-phase 100 to 115 VAC+10% to -15% 50/60 Hz
Single-phase 100 V
Three-phase 200 V
Three-phase 400 V
2
Max.
torque
Rated
torque
Approx.
SGMGV-44A, -55A,
-75A
10000
1000
100
10
1
SGMGV-03A, -05A, -09A,
-13A-20A, -30A,
-1AA, -1EA
SGMGV-D
SGMSV-
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(
s
)
SERVOPACK Model: SGDV- 1R9D 3R5D 5R4D 8R4D 120D 170D 210D 260D 280D 370D
Continuous Output Current Arms 1.9 3.5 5.4 8.4 11.9 16.5 20.8 25.4 28.1 37.2
Max. Output Current Arms 5.5 8.5 14 20 28 42 55 65 70 85
SERVOPACK Model: SGDV- R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A 180A 200A 330A 470A 550A 590A 780A
Continuous Output Current Arms 0.66 0.91 1.6 2.8 3.8 5.5 7.6 11.6 18.5 19.6 32.9 46.9 54.7 58.6 78
Max. Output Current Arms 2.1 2.9 5.8 9.3 11 16.9 17 28 42 56 84 110 130 140 170
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MECHATROLINK-III communications enable high-speed control for 62 stations at a transmission speed of 100 Mbps in a
transmission cycle from 125 s to 4 ms (user setting). Such a high transmission speed allows real-time transmission of various
data required for control.
1Cost savings
The 62 stations can be connected to a single MECHATROLINK-III transmission line, so wiring costs and time are greatly
The SGDV SERVOPACK when connected to the host controller in the MECHATROLINK-III network provides not only torque,
Features
255
Specifications
Control Method IGBT PWM control, sine-wave driven
Feedback
Rotary Servomotors
With Linear Servomotors Serial converter unit or linear scale
Operating Conditions
Surrounding Air/Storage Temperature Surrounding air temperature: 0 to +55C, Storage temperature: -20 to +85C
2
2
Protection Class/Pollution Degree
Protection class: IP10, pollution degree: 2
Locations subject to corrosive or flammable gasses
Others
Altitude 1000 m or less
Applicable Standards (Pending)
UL508C
EN50178, EN55011/A2 group1 classA, EN61000-6-2, EN61800-3, EN61800-5-
1, EN954-1, IEC61508-1 to 4
Configuration
Standard: Base-mounted
Optional: Rack-mounted, Duct-ventilated
Performance
Speed Control Range
1:5000 (The lowest speed of the speed control range is the speed at which the
servomotor will not stop with a rated torque load.)
Speed
Regulation
*1
Load Fluctuation 0% to 100% load: 0.01% max. (at rated speed)
Voltage Fluctuation Rated voltage: 10% : 0% (at rated speed)
Temperature Fluctuation 2525C : 0.1% max. (at rated speed)
Communications
RS-422A
Communications
Interface Digital operator (JUSP-OP05A-1-E), personal computer (can be connected with SigmaWin+)
USB
Communications
Interface Personal computer (can be connected with SigmaWin+.)
Communications Standard Compliant with USB1.1 standard (12 Mbps)
Display CHARGE indicator
Analog Monitor
Number of points: 2
Output voltage: 10 VDC (linearity effective range 8 V)
Resolution: 16 bit
Accuracy: 20 mV (Typ)
Max. output current: 10 mA
Settling time ( 1%): 1.2 ms (Typ)
Dynamic Brake (DB)
Activated when a servo alarm or overtravelling (OT) occurs, or when the power
supply for the main circuit or servomotor is OFF.
Protective Functions Overcurrent, Overvoltage, low voltage, overload, regeneration error, etc.
Utility Functions Gain adjustment, alarm history, JOG operation, origin search, etc.
Overtravelling (OT) Prevention Dynamic brake stop at P-OT or N-OT, deceleration to a stop, or free run to a stop
Safety Functions
Input /HWBB1, /HWBB2: Baseblock signal for power module
Applicable Standards (Pending)
*2
EN954 category 3, IEC61508 SIL2
Option Module Fully-closed option module
*1: Speed regulation is defined as follows:

Speed regulation=
100%
Rated motor speed
The motor speed may change due to voltage fluctuation or temperature fluctuation.
The ratio of speed changes to the rated speed represent speed regulation due to voltage and temperature fluctuations.
*2: Perform risk assessment for the system and confirm that the safety requirements for the standards are fulfilled before using the HWBB function.
256
MECHATROLINK-III Type SERVOPACKs
SGDV-21/25
Specifications
1Rotary Servomotors
I/O Signal
Sequence Input
Input Signals which
can be allocated
Function
Homing deceleration switch signal (/DEC), external latch signal (/EXT1 to 3),
forward run prohibited (P-OT), reverse run prohibited (N-OT),
Sequence Output
can be allocated
Function
(/V-CMP), servomotor rotation detection (/TGON), servo ready
(/S-RDY), torque limit detection (/CLT), speed limit detection (/VLT),
brake (/BK), warning (/WARN), NEAR (/NEAR)
Panel Operator
Display 7-segment 1-digit LED (red), LED for MECHATROLINK Communications (green)3
Switch Rotary switch: 16 positions2, DIP switch: 4 poles
MECHATROLINK
Communications
Communications Protocol MECHATROLINK-III
Transmission Speed 100 Mbps
Transmission Cycle 125s, 250s, 500s,750s, 1 ms to 4 ms (increments of 0.5 ms)
Number of Words for
Link Transmission
Can be switched between 16-bytes/station, 32-bytes/station and 48-bytes/station.
Station Address 03H to EFH (max. number of slaves: 62)
Command Method
Performance
Position control, speed control, and torque control through
MECHATROLINK communications
Command Input
MECHATROLINK commands
Specifications
1Linear Servomotors
I/O Signal
Sequence Input
Input Signals which
can be allocated
Function
Homing deceleration switch signal (/DEC), external latch signal (/EXT1 to 3), forward
run prohibited (P-OT), reverse run prohibited (N-OT),
Sequence Output
can be allocated
Function
Signal allocations and positive/negative logics can be modified. Positioning
completion (/COIN), speed coincidence detection
(/V-CMP), servomotor movement detection (/TGON),
servo ready (/S-RDY), force limit detection (/CLT),
speed limit detection (/VLT), brake (/BK),
warning (/WARN), NEAR (/NEAR)
Panel Operator
Display 7-segment 1-digit LED (red), LED for MECHATROLINK Communications (green)3
Switch Rotary switch: 16 positions2, DIP switch: 4 poles
MECHATROLINK
Communications
Transmission Cycle 125s, 250s, 500s,750s, 1 ms to 4 ms (increments of 0.5 ms)
Number of Words for
Link Transmission
Can be switched between 16-bytes/station, 32-bytes/station and 48-bytes/station.
Station Address 03H to EFH (max. number of slaves: 62)
Command Method
Performance
Position control, speed control, and force control through
MECHATROLINK communications
Command Input
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*3: For the optional JUSP-RA18-E regenerative resistor unit
Be sure to connect a regenerative resistor unit (optional) or an external regenerative resistor (optional). .
Main Circuit
Power
Supply
Applicable
Servomotor
Max.
Capacity
kW
SERVOPACK
Model
SGDV-
Power Supply
Capacity
kVA
Output Current
Arms
Main Circuit
Power Loss
W
Regenerative
Resistor
Power Loss
W
Control Circuit
Power Loss
W
Total Power
Loss
W
Signal-phase
100 V
0.05 R70F 0.2 0.66 5.4
17
22.4
0.1 R90F 0.3 0.91 7.8 24.8
0.2 2R1F 0.7 2.1 14.4 31.4
0.4 2R8F 1.4 2.8 25.6 42.6
Single-phase
200 V
0.05 R70A 0.2 0.66 5.2
17
22.2
0.1 R90A 0.3 0.91 7.4 24.4
0.2 1R6A 0.7 1.6 13.7 30.7
0.4 2R8A 1.2 2.8 24.9 41.9
0.75 5R5A 1.9 5.5 52.7 8 77.7
1.5 120A 4 11.6 68.2 10 22 100.2
Three-phase
200 V
0.05 R70A 0.2 0.66 5.1
17
22.1
0.1 R90A 0.3 0.91 7.3 24.3
0.2 1R6A 0.6 1.6 13.5 30.5
0.4 2R8A 1 2.8 24.0 41.0
0.5 3R8A 1.4 3.8 20.1
8
45.1
0.75 5R5A 1.6 5.5 43.8 68.8
1.0 7R6A 2.3 7.6 53.6 78.6
1.5 120A 3.2 11.6 65.8 10
22
97.8
2.0 180A 4 18.5 111.9
16
149.9
3.0 200A 5.9 19.6 113.8 161.4
5.0 330A 7.5 32.9 263.7 36 27 326.7
6.0 470A 10.7 46.9 279.4 (180)
*1
33
312.4
7.5 550A 14.6 54.7 357.8
(350)
*2
390.8
11 590A 21.7 58.6 431.7
48
479.7
15 780A 29.6 78 599.0 647.0
Three-phase
400 V
0.5 1R9D 1.1 1.9 24.6
14 21
59.6
1.0 3R5D 2.3 3.5 46.1 81.1
1.5 5R4D 3.5 5.4 71.3 106.3
2.0 8R4D 4.5 8.4 77.9
28 25
130.9
3.0 120D 7.1 11.9 108.7 161.7
5.0 170D 11.7 16.5 161.1 36 24 221.1
6.0 210D 12.4 20.8 172.7
(180)
*3
27
199.7
7.5 260D 14.4 25.7 218.6 245.6
11 280D 21.9 28.1 294.6
(350)
*4
30
324.6
15 370D 30.6 37.2 403.8 433.8
)
258
SGDV-21/25
35
40
SERVOPACK
Rear View
2-M4 Screw Holes
5
1
6
0
1
5
0
0
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5

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23 25
75
1
5
7
1
2
0
140
4
40
1
6
0
Input Voltage
Model
CN6A
CN6B
CN3
CN7
CN1
CN8
CN2
Two
Terminals
Ground Terminal
2-M4 Screws
5
1
6
0
5
1
5
0
0
.
5

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40
SERVOPACK
Rear View
2-M4 Screw Holes
300.5
(Mounting Pitch)
Air Flow
Air Flow
Ground Terminal
2-M4 Screws
75
23
170
4
1
6
0
7
1
5
1
2
0
40
Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
CN6A
CN6B
Two
Terminals
6
1
6
0
5
1
5
0
0
.
5

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70
SERVOPACK
Rear View
3-M4 Screw Holes
580.5
(Mounting Pitch)
Air Flow
Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
CN6A
CN6B
Air Flow
Air Flow
Ground Terminal
2-M4 Screws
Two
Terminals
75
23
180
4
1
6
0
7
1
5
1
2
0
70
Cooling Fan
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Air Flow
Input Voltage
Model
CN6A
CN6B
CN3
CN7
CN1
CN8
CN2
70
1
6
0
Air Flow
Two
Terminals
Ground Terminal
2-M4 Screws
Air Flow
1
5
1
2
0
180
23 25
75
4
Cooling Fan
6
70
SERVOPACK
Rear View
3-M4 Screw Holes
5
1
6
0
1
5
0
0
.
5

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580.5
(Mounting Pitch)
5
40
SERVOPACK
Rear View
2-M4 Screw Holes
5
1
6
0
1
5
0
0
.
5

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300.5
(Mounting Pitch)
1
5
1
2
0
170
23 25
75
4
Input Voltage
Model
CN6A
CN3
CN7
CN1
CN8
CN2
1
6
0
Two
Terminals
Ground Terminal
2-M4 Screws
CN6B
40
(5) Three-phase 200 VAC, Model: SGDV-3R8A2A, -5R5A2A, and -7R6A2A
Air Flow
Air Flow
Ground Terminal
2-M4 Screws
Two
Terminals
Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
75
23
180
4 5
1
6
0
1
6
0
5
1
5
0
0
.
5

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90
SERVOPACK
Rear View
4-M4 Screw Holes
7
1
5
1
2
0
90
CN6A
CN6B
800.5
(Mounting Pitch)
25
260
SGDV-21/25
5
1
8
0
5
1
7
0
0
.
5

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100
SERVOPACK
Rear View
4-M4 Screw Holes
900.5
(Mounting Pitch)
Air Flow
Air Flow
Ground Terminal
2-M4 Screws
75
13
1
8
0
7
1
5
1
2
0
100
Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
CN6A
CN6B
180
4
2
5
0
6
2
3
8
.
5
0
.
5

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SERVOPACK
Rear View
4-M5 Screw Holes
1000.5
(Mounting Pitch)
5
Air Flow
Air Flow
Ground Terminal
2-M4 Screws
75
13
210
5
2
5
0
7
1
5
1
2
0
110
Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
CN6A
CN6B
Cooling Fan
5
110
SERVOPACK
Rear View
4-M4 Screw Holes
5
.
5
1
6
0
1
4
9
.
5
0
.
5
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1000.5
(Mounting Pitch)
1
5
1
2
0
180
23 25
75
4
Input Voltage
Model
CN6A
CN6B
CN3
CN7
CN1
CN8
CN2
110
1
6
0
Air Flow
Air Flow
Two
Terminals
Ground Terminal
2-M4 Screws
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5
110
SERVOPACK
Rear View
4-M5 Screw Holes
6
2
5
0
2
3
8
.
5
0
.
5

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1000.5
(Mounting Pitch)
1
5
1
2
0
180
13
75
4
Input Voltage
Model
CN6A
CN6B
CN3
CN7
CN1
CN8
CN2
110
2
5
0
Ground Terminal
2-M4 Screws
Air Flow
Air Flow
(10) Three-phase 400 VAC, Model: SGDV-8R4D2A and -120D2A
5
135
SERVOPACK
Rear View
4-M5 Screw Holes
6
2
5
0
2
3
8
.
5
0
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5

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1250.5
(Mounting Pitch)
Air Flow
Air Flow
Input Voltage
Model
CN6A
CN6B
CN3
CN7
CN1
CN8
CN2
2
5
0
135
1
5
1
2
0
13
230 75
CN6A 1981386-1 8 Tyco Electronics AMP K.K.
CN6B 1981386-1 8 Tyco Electronics AMP K.K.
262
SGDV-21/25
Selecting Cables
1 Cables for CN1

CN3

CN5

CN6

CN7

CN8 (MECHATROLINK-III Communications Reference Type
SERVOPACKs)
Digital Operator
Converter Cable
Safety Cable
Cable for
Analog Monitor
Cable for
I/O Signals
Connect to the
MECHATROLINK-3
MECHATROLINK-3
Communication Cable
LED Indicator for
External Device
CN1
CN5
CN6
CN3
CN7
CN8
Digital
Operator
\1l1 t\lJ 1lJ llJ REF 1J1l1
ALARM
l .ll
SVON
t11l11 lll1t1
11t1
SERVO
READ WRITE
SERVO
YASKAWA
DIGITAL OPERATOR .lt1l1l'1
Connection Cable
CN1
Connector Terminal
Converter Unit
0.5 m SBK-U-VBA-A5
(2)
1 m SBK-U-VBA-01
3 m SBK-U-VBA-03
at One End
1 m JZSP-CSI02-1-E
3 m JZSP-CSI02-3-E
CN3
Digital Operator
Converter Cable*1
2.5 m JZSP-CVS06-02-E (6)
CN6A

CN6B
MECHATROLINK-III
Communication Cable
Cables with Connectors at Both
Ends (Without Ferrite Core)
0.2 to
50 m
JEPMC-W6012--E (7)
Cables with Connectors at Both
Ends (With Ferrite Core)*2
10 to
75 m
JEPMC-W6013--E (8)
at One End
0.5 to
50 m
JEPMC-W6014--E (9)
CN5

1 m JZSP-CA01-E (10)
CN8

Cables for Safety
Functions
Cables with
Connector
*3
3 m JZSP-CVH03-03-E (11)
Connector kit
*4
Model : 2013595-1
Soldered
SERVOPACK End
ALARM
l .ll SVON
'11l11 lll1'1 11'1
YASKAWA
3
1
0
3
1
4JZSP-CVS05-A3-E
*2 : Currently in pre-release. Will be available soon.
JZSP-CVS06-02-E
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Connector Kit
Model
Case Connector
Model Qty Model Qty
JZSP-CSI9-2-E 10326-52A0-008* 1 set
10126-3000PE*
(Soldered)
1
Item Specifications
Cable
wire.
Applicable Wires AWG24262830
Cable Size
37.2 12.7
25.8
31.3
12.0
14.0
3
9
.
0
2
3
.
8
5
.
2
1
0
.
0
2.54
Pin No.14
1.27
Pin No.14
Pin No.1
21.5
15.24
1
5
1.27
25.8
5
.
1
6
.
8
1
9
.
5
2
.
9
2
.
3
1
2
.
7
Pin No.15
Pin No.1 Pin No.2 Pin No.12 Pin No.13
Pin No.26
Pin No.25
9
.
1
7
.
5
Signal Function
5 -
9 /DEC (/SI3)
16 SG Signal ground
Pin No.
264
\1l1
ALARM
l
.ll
SVON
t11l11 lll1t1
11t1
SERVO
READ WRITE
SERVO
YASKAWA
57
1
1
1
1
2
0
17.8
1000
70
+30
0
Nameplate
(8)
300
+30
0
(35) (39)
(
2
1
)
(12.7)
(
2
9
.
5
)
(
4
.
3

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1
0
3
1
4JZSP-CVS05-A3-E
(Sumitomo 3M Ltd.)
CoverHDR-E14LPA5
CoverFA458036
/SO1+
/SO1
ALM+
ALM
5
+24VIN
P-OT
N-OT
/DEC
/EXT1
/EXT2
/EXT3
/S10
BAT+
BAT
SG
PAO
/PAO
PBO
/PBO
PCO
/PCO
/SO2+
/SO2
/SO3+
/SO3
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
Blue
Blue
Pink
Pink
Green
Green
Orange
Orange
Gray
Gray
Blue
Blue
Pink
Green
Green
Pink
Orange
Orange
Gray
Gray
Blue
Blue
Pink
Pink
Green
Green
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
Red
Black
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
1
1
1
1
1
1
1
1
1
1
2
2
2
2
2
2
2
2
2
2
3
3
3
3
3
3
Pin No.
Wire
Color
Signal
Marking
Color
SERVOPACK End
Dots
Lead
Marker
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
Represents
twisted-pair
wires.
Host
Controller End
Model Cable Length
JZSP-CSI02-1-E 1 m
JZSP-CSI02-2-E 2 m
JZSP-CSI02-3-E 3 m
SERVOPACK End
Shell 10326-52A0-008
Cable (Ivory)
UL20276 VW-1SC
L
3
7
.
2
14 100
+10
-0
3 Dia. Wire Markers
(
6
.
3

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SGDV-21/25
265
2,500
(100)
10 to 20
JZSP-CVS06-02-E
(55)
+100
0

IMPORTANT
IMPORTANT Use a MECHATROLINK-III communications cable specified by Yaskawa. When using other cables, noise resistance
(7) MECHATROLINK-III Communications Cable
for CN6 (Model: JEPMC-W6012--E)
JEPMC-W6012-01-E 1 m
JEPMC-W6012-10-E 10 m
JEPMC-W6012-20-E 20 m
JEPMC-W6012-30-E 30 m
JEPMC-W6012-50-E 50 m
(9) MECHATROLINK-III Communications Cable for CN6
L
L
Cables with Connectors at Both Ends (Without Ferrite Core) Cables with Connectors at Both Ends (With Ferrite Core)
L
JEPMC-W6013-10-E 10 m
JEPMC-W6013-20-E 20 m
JEPMC-W6013-30-E 30 m
JEPMC-W6013-50-E 50 m
JEPMC-W6013-75-E 75 m
(8) MECHATROLINK-III Communications Cable
for CN6 (Model: JEPMC-W6013--E)
JEPMC-W6014-10-E 10 m
JEPMC-W6014-30-E 30 m
JEPMC-W6014-50-E 50 m
Cable with Loose Wire at One End
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3000+150
(8)
(11)
(20)
(33)
1 Not used
2 Not used
4 /HWBB1+ White Red
5 /HWBB2 Gray Black
6 /HWBB2+ Gray Red
7 EDM1 Orange Black
8 EDM1+ Orange Red
3 4
1 2
Socket DF11-4DS-2C*
1000 -0
+20
White
Red
Black
Black
View from Cable End
1 Red Analog Monitor 2 Motor speed : 1V/1000 min-1
Torque reference : 1V/100 rated
torque
3, 4
Black
(2 cables)
GND(0V)
Specifications
267
R70 A 0 1 B 002 00 0 001
Limited Stock Items
Model Designations
Series SGDV SERVOPACK
SGDV
Current
Interface Options
Voltage
Code Specifications
0 Analog voltage/pulse train reference type
1 MECHATROLINK-II communication reference type
E Other control architecture type (i.e. MP2600iec)
SERVOPACK
with Additional Options
Code Specifications
F 100 VAC
A 200 VAC
D 400 VAC
Option Function
Code Specifications
001
*1
Fully-closed loop
010
*1
Functional Safety
100
*2
Indexer
101
*2
Indexer and Fully-closed loop
200
*2
EtherCAT (CoE) communications
reference
201
*2
reference and Fully-closed loop control
210
*2
reference and Functional Safety
300
*2
MP2600iec Single Axis Controller
Voltage Code
Applicable Servomotor
Max. Capacity kW
100 V
R70 0.05
R90 0.1
2R1 0.2
2R8 0.4
200 V
R70
*3
0.05
R90
*3
0.1
1R6
*3
0.2
2R8
*3
0.4
3R8 0.5
5R5
*3
0.75
7R6 1.0
120
*4
1.5
180 2.0
200 3.0
330 5.0
470 6.0
550 7.5
590 11
780 15
400V
1R9 0.5
3R5 1.0
5R4 1.5
8R4 2.0
120 3.0
170 5.0
210 6.0
260 7.5
280 11
370 15
Motor Type
Code Specifications
1 Rotary Servomotors
5
*5
Linear Servomotors
*1 This option only available with interface types 0 and 1.
*2 This option only available with interface type E
*5 Fully Closed Loop option not available with linear style amps.
*3: These amplifiers can be powered with single or three-phase.
*4 SGDV-120A1A008000, a special version of the 1.5kW
Options
Code Specifications
002000 Base-mounted, varnish(standard)
008000
Code Specifications
A Fan-Cooling
B Fanless Cooling
Cooling Method
SERVOPACK with Additional Options
268
SERVOPACKs
Product Labeling

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The three digit option function code allows for expandability of the servo amplifier's functionality. Each digit of
the code defines a different type of option
1 First Digit (Control Architecture): compatible with various communication interfaces or single-axis control architectures.
1 Second Digit (Safety): compatible with EN60204-1 stop category 1 and 2
(stop category 0 is standard)
1 Third Digit (Feedback): compatible with fully-closed loop control
Additional Options
NOTE: Amplifiers with Interface Options 0 and 1 can accommodate option modules that utilize the 2nd and 3rd digits of the Option
Module Code (the first digit will always be 0 for these amplifiers). Amplifiers with Interface Option E can accommodate option
modules that utilize all 3 digits of the Option Module Code.
Nameplate for SERVOPACK with Option Module
Model (20 digits) : SGDVEA000000201
Nameplate for
SERVOPACK Nameplate for Option Module for Fully -closed
Loop Control
Model : SGDV-EA
(CoE)
Model : SGDV-OCA01A
Model : SGDV-OFA01A (Refer to Model Designations
provided in the SERVOPACK
pages for details. )
(This model number is shown on the nameplate for
option module for fully -closed loop control )
Combination Example:
MP2600iec Single Axis Controller Option

IEC61131-3 standardized programming for the Sigma-5 servo
system

Scaleable with the MP2000iec multi-axis controller platform via
the common programming environment, MotionWorks IEC

Built in Ethernet/IP and Modbus TCP/IP (master and slave)
allow for connection to most PLCs and expansion I/O

PLCopen function blocks with MotionWorks IEC simplify
programming, while a diagnostic web server reduces field
maintenance time

Optional OPC server allows for data exchange with Windows
based HMI and SCADA systems
Full Closed Loop Option

Allows the user to close the position loop around a secondary
feedback device placed near the load

Helps to eliminate the effects of mechanical compliance and
thermal variances of mechanical components allowing for more
precise control and improved machine performance
EtherCAT (CoE) Option

Implements the EtherCAT open EtherNet based real-time
communication protocol

Compatibility with any EtherCAT master that adheres to the
CAN over EtherCAT (CoE) device profile specification (CiA402)

Variety of different system architectures:
cascade, line star, ring

Seven different control modes available
Indexer Option
Provides point-to-point positioning without complex
programming
Up to 256 programmable positioning points
Simple wizard-based setup with SigmaWin+ software
Functional Safety Option
TUV Sud certified compliance with the latest standards
Safety standards: Safe Torque Off (STO), Safe Stop 1 (SS1),
Safe Stop 2 (SS2), Safely Limited Stop (SLS)
269
Ratings
Control Method IGBT PWM control, sine-wave driven
Feedback
Rotary Servomotors
Linear Servomotors
*1
Serial converter or serial data
Operating
Conditions
Surrounding/Storage Temperature Surrounding temperature: 0 to +55C, storage temperature: - 20 to +85C
2
2
Others
Specifications
SERVOPACK Model SGDV R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A 180A 200A 330A 470A 550A 590A 780A
rms
0.66 0.91 1.6 2.8 3.8 5.5 7.6 11.6 18.5 19.6 32.9 46.9 54.7 58.6 78
rms
2.1 2.9 6.5 9.3 11 16.9 17 28 42 56 84 110 130 140 170
Main Circuit Three-phase 200 to 230 VAC +10% to -15% 50/60 Hz
Control Circuit Single-phase 200 to 230 VAC +10% to -15% 50/60 Hz
Three-phase 200 V
SERVOPACK Model SGDV 1R9D 3R5D 5R4D 8R4D 120D 170D 210D 260D 280D 370D
rms
1.9 3.5 5.4 8.4 11.9 16.5 20.8 25.4 28.1 37.2
rms
5.5 8.5 14 20 28 42 55 65 70 85
Main Circuit Three-phase 380 to 480 VAC +10% to -15% 50/60 Hz
Three-phase 400 V
Torque reference (percent of rated torque )
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(
s
)
10000
1000
100
10
1
100 200 300 350
SGMJV
Torque reference (percent of rated torque )
SGMAV-A5, 01, C2
SGMAV-02, 04, 06, 0810
SGMPS
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(
s
)
10000
1000
100
10
1
100 200 300
Note: f o y t u d s u o u n i t n o c e e t n a r a u g t o n o d e v o b a n w o h s s c i t s i r e t c a r a h c d a o l r e v O 100% or more output. Use a
servomotor with effective torque within the continuous duty zone of Torque-Motor Speed Characteristics.
2
Max. torque Rated torque Approx.
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(
s
)
SGMGV-44A, -55A,
-75A
10000
1000
100
10
1
SGMGV-03A, -05A, -09A,
-13A-20A, -30A,
-1AA, -1EA
SGMGV-D
SGMSV-
SERVOPACK Model SGDV R70F R90F 2R1F 2R8F
rms
0.66 0.91 2.1 2.8
rms
2.1 2.9 6.5 9.3
Single-phase 100 V
SERVOPACK Model SGDV R70A R90A 1R6A 2R8A 5R5A 120
rms
0.66 0.91 1.6 2.8 5.5 11.6
rms
2.1 2.9 6.5 9.3 16.9 28
Single-phase 200 V
270
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Specifications
Compliant Standards
UL508C
EN50178, EN55011/A2 group1 classA, EN61000-6-2, EN61800-3,
EN61800-5-1, EN954-1, IEC61508-1 to 4
Configuration Standard: Base-mounted; Optional: Rack-mounted, Duct-ventilated
Performance
Speed
Regulation
*2
I/O Signals
Sequence Input
Input Signals which can
be allocated
No. of Channels 7 channels
Functions
The signal allocation and positive/negative logic can be modifed. Forward run
prohibited (P-OT), reverse run prohibited (N-OT), forward torque limit (/P-CL),
reverse torque limit (/N-CL), general-purpose input signal (/SI0 to /SI6)
*3
Sequence Output
be allocated
No. of Channels 3 channels
Functions
The signal allocation and positive/negative logic can be modifed. Positioning
completion (/COIN), speed coincidence detection(/V-CMP), servomotor rotation
detection (/TGON), servo ready(/S-RDY), torque limit detection (/CLT), speed limit
detection(/VLT), brake (/BK), warning (/WARN), near (/NEAR)
Communications
RS-422A
Communications
USB
Communications
Communications
Standard
Compliant with USB 1.1 standard (12 Mbps)
Display CHARGE and POWER (seven-segment display)
Analog Monitor
Number of points: 2
Output voltage: 10 VDC (linearity effective range 8 V)
Resolution: 16 bit
Accuracy: 20 mV (Typ)
Max. output current: 10 mA
Settling time (1%): 1.2 ms (Typ)
Dynamic Brake (DB)
Activated when the power supply for the main circuit or the SERVOPACK is OFF,
when overtravel (OT) or a servo alarm occurs, or during a hardwired base block.
Overtravell (OT) Prevention Dynamic brake stop at P-OT or N-OT, deceleration to a stop, or free run to a stop
Safety Functions
Option Modules Fully-closed option module, EtherCAT (CoE)
*1: Under development

Speed regulation=
100%
Rated motor speed
*3: For details on the functions of the general-purpose input signals /SI0 to /SI6, refer to the manual of the command (option) module being used.
271
Notes: 1 SGDVR70F, R90F, 2R1F, 2R8F, R70A, R90A, 1R6A, and 2R8A SERVOPACKs do not have built-in regenerative resistors.
2 SGDV470A, 550A, 590A, 780A, 210D, 260D, 280D, 370D SERVOPACKs do not have built-in regenerative resistors.
(SGDV3R8A, 5R5A, 7R6A, 120A, 180A, 200A, 330A, or 400 V class SERVOPACKs.)
Main Circuit
Power
Supply
Applicable
Servomotor
Max.
Capacity
kW
SERVOPACK
Model
SGDV
Power Supply
Capacity
kVA
Output Current
A
Main Circuit
Power Loss
W
Regenerative
Resistor
Power Loss
W
Control Circuit
Power Loss
W
Total Power
Loss
W
Signal-phase
100 V
0.05 R70F 0.2 0.66 5.4
17
22.4
0.1 R90F 0.3 0.91 7.8 24.8
0.2 2R1F 0.7 2.1 14.4 31.4
0.4 2R8F 1.4 2.8 25.6 42.6
Single-phase
200 V
0.05 R70A 0.2 0.66 5.2
17
22.2
0.1 R90A 0.3 0.91 7.4 24.4
0.2 1R6A 0.7 1.6 13.7 30.7
0.4 2R8A 1.2 2.8 24.9 41.9
0.75 5R5A 1.9 5.5 52.7 8 77.7
1.5 120A 4 11.6 68.2 10 22 100.2
Three-phase
200 V
0.05 R70A 0.2 0.66 5.1
17
22.1
0.1 R90A 0.3 0.91 7.3 24.3
0.2 1R6A 0.6 1.6 13.5 30.5
0.4 2R8A 1 2.8 24.0 41.0
0.5 3R8A 1.4 3.8 20.1
8
45.1
0.75 5R5A 1.6 5.5 43.8 68.8
1.0 7R6A 2.3 7.6 53.6 78.6
1.5 120A 3.2 11.6 65.8 10
22
97.8
2.0 180A 4 18.5 111.9
16
149.9
3.0 200A 5.9 19.6 113.8 161.4
5.0 330A 7.5 32.9 263.7 36 27 326.7
6.0 470A 10.7 46.9 279.4 (180)
*1
33
312.4
7.5 550A 14.6 54.7 357.8
(350)
*2
390.8
11 590A 21.7 58.6 431.7
48
479.7
15 780A 29.6 78 599.0 647.0
Three-phase
400 V
0.5 1R9D 1.1 1.9 24.6
14 21
59.6
1.0 3R5D 2.3 3.5 46.1 81.1
1.5 5R4D 3.5 5.4 71.3 106.3
2.0 8R4D 4.5 8.4 77.9
28 25
130.9
3.0 120D 7.1 11.9 108.7 161.7
5.0 170D 11.7 16.5 161.1 36 24 221.1
6.0 210D 12.4 20.8 172.7
(180)
*3
27
199.7
7.5 260D 14.4 25.7 218.6 245.6
11 280D 21.9 28.1 294.6
(350)
*4
30
324.6
15 370D 30.6 37.2 403.8 433.8
272
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External Dimensions Units: mm (for Analog Voltage/Pulse Train Reference Type SERVOPACKs)
90
1
6
0
CN3
CN7
CN1
CN8
CN2
(
2
0
)
(17)
(4)
(75) 180
23
2 97
(
1
2
0
)
3-M4
1
6
0
1
5
0
0
.
5
580.5 6
90
5 Input Voltage
Cooling Fan
Model
Air Flow
Air Flow
Air Flow
Two
Terminals
Ground Terminal
2-M4 Screws
(
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(Mounting Pitch)
SERVOPACK
Rear View
Screw Holes
60
1
6
0
CN3
CN7
CN1
CN8
CN2
(
2
0
)
(17)
(75)
(4) 23
170
97 2
(
1
2
0
)
2-M4
1
6
0
1
5
0
0
.
5
300.5 5
60
5
Input Voltage
Model
Air Flow
Air Flow
Two
Terminals
Ground Terminal
2-M4 Screws
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SERVOPACK
Rear View
Screw Holes
(1) Single-phase 100 VAC, Model: SGDVR70F0A002000, SGDVR90F0A002000,
and SGDV2R1F0A002000
(2) Single-phase 100 VAC, Model: SGDV2R8F0A002000
The following drawings illustrate the external dimensions of SERVOPACKs with Interface Options 0 and 1 with option modules.
273
(3) Three-phase 200 VAC, Model: SGDVR70A0B002000, SGDVR90A0B002000,
and SGDV1R6A0B002000
(4) Three-phase 200 VAC, Model: SGDV2R8A0B002000
CN3
CN7
CN1
CN8
CN2
60
1
6
0
Input Voltage
Model
Two
Terminals
Ground Terminal
2-M4 Screws
(
1
2
0
)
140
(4)
(17)
(75)
(25) 23
(
2
0
)
60
35
1
6
0
5
1
5
0
0
.
5

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SERVOPACK Rear View
2-M4 Screw Holes
97 2
CN3
CN7
CN1
CN8
CN2
Model
Input Voltage
60
Two
Terminals
Ground Terminal
2-M4 Screws
1
6
0
(
1
2
0
)
170
(17)
(4)
(75)
(25) 23
(
2
0
)
SERVOPACK Rear View
60
300.5
(Mounting Pitch)
5
1
6
0
5
1
5
0
0
.
5

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2-M4 Screw Holes
97 2
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(5) Three-phase 200 VAC, Model: SGDV3R8A0A002000, SGDV5R5A0A000000,
and SGDV7R6A0A002000
(6) Three-phase 200 VAC, Model: SGDV120A0A002000
90
1
6
0
CN3
CN7
CN1
CN8
CN2
(
2
0
)
(17)
(
1
2
0
)
4
(75) 180
23 (25)
2 97
3-M4
1
6
0
1
5
0
0
.
5
580.5 6
90
5
Input Voltage
Cooling Fan
Model
Air Flow
Air Flow
Air Flow
Two
Terminals
Ground Terminal
2-M4 Screws
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
(Mounting Pitch)
SERVOPACK
Rear View
Screw Holes
110
1
6
0
CN3
CN7
CN1
CN8
CN2
(
2
0
)
(17)
(
1
2
0
)
(4)
(75) 180
23 (25)
2 97
4-M4
1
6
0
1
5
0
0
.
5
800.5 5
110
5
Input Voltage
Model
Air Flow
Air Flow
Two
Terminals
Ground Terminal
2-M4 Screws
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
(Mounting Pitch)
SERVOPACK
Rear View
Screw Holes
275
100
120
1
8
0
1
6
0
Terminal
13-M4
Screws
CN3
CN7
CN1
CN8
CN2
Terminal Details
(
2
0
)
(17)
(
1
2
0
)
(
9
0
)
(4)
180 (75)
(30)
22
2 97
4-M4 Screw Holes
1
8
0
1
7
0
0
.
5
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
5
120
5
900.5
Input Voltage
Cooling
Fan
Model
Air Flow
Air Flow
Ground
Terminal
2-M4
Screws
(Mounting Pitch)
SERVOPACK
Rear View
Terminal
13-M4
Screws
Terminal Details
110
130
2
5
0
CN3
CN7
CN1
CN8
CN2
1
6
0
(
2
0
)
(17)
(
1
2
0
)
(5)
210 (75)
22
2 97
(
1
0
0
)
(33)
4-M5 Screw Holes
2
5
0
2
3
8
0
.
5

(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
5
130
6
1000.5
Input Voltage
Cooling Fan
Model
Air Flow
Air Flow
Ground
Terminal
2-M4
Screws (Mounting Pitch)
SERVOPACK
Rear View
(7) Single-phase 200 VAC, Model: SGDV120A0A008000 (1.5 kW, single-phase input type)
Three-phase 200 VAC, Model: SGDV180A0A002000, and SGDV200A0A002000
276
SERVOPACKs

S
E
R
V
O
P
A
C
K
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t
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d
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o
n
a
l

O
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t
i
o
n
s
(9) Three-phase 200 VAC, Model: SGDV470A0A002000, SGDV550A0A000000
170 210
22
3
5
0
CN3
CN7
CN1
CN8
CN2
(
2
0
)
(75)
(17)
(
1
2
0
)
3
5
0
1200.5
(Mounting Pitch)
25
170
7
.
5
Terminal
6-M6 Screws
Terminal
5-M6 Screws
Ground Terminal
2-M6 Screws
Air Flow
Air Flow
Input Voltage
Model
4-M6 Screw Holes
3
3
5
0
.
5
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
190
1
6
0
170 210
22
3
5
0
CN3
CN7
CN1
CN8
CN2
(
2
0
)
(75)
(17)
(
1
2
0
)
3
5
0
1200.5
(Mounting Pitch)
25
170
7
.
5
Terminal
6-M6 Screws
Terminal
5-M6 Screws
Ground Terminal
2-M6 Screws
Air Flow
Air Flow
Input Voltage
Model
4-M6 Screw Holes
3
3
5
0
.
5
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
190
1
6
0
277
(11) Three-phase 400 VAC, Model: SGDV1R9D0A002000, 3R5D0A002000, and 5R4D0A002000
(12) Three-phase 400 VAC, Model: SGDV8R4D0A002000 and 120D0A002000,
5
110
4-M4 Screw Holes
5
.
5
1
6
0
1
4
9
.
5
0
.
5
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
1000.5
(Mounting Pitch)
(
2
0
)
(17)
(
1
2
0
)
180
23 (25)
(75)
(4)
Air Flow
Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
110
130
1
6
0
Air Flow
Two Terminals
Ground Terminal
2-M4 Screws
Nameplate
1
6
0
Air Flow
Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
110
2
5
0
Ground Terminal
2-M4 Screws
Nameplate
(
2
0
)(17)
(
1
2
0
)
180
22
(75)
(4)
5
110
4-M5 Screw Holes
6
2
5
0
2
3
8
.
5
0
.
5
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
1000.5
(Mounting Pitch)
Air Flow
1
6
0
130
(13) Three-phase 400 VAC, Model: SGDV170D0A002000
4-M5 Screw Holes
135
5
2
5
0
6
Air Flow
Air Flow
230
135
155
(75)
(17)
(
2
0
)
(
1
2
0
)
22
2
5
0
1
6
0
Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
1250.5
(Mounting Pitch)
2
3
8
.
5
0
.
5
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
278
SERVOPACKs

S
E
R
V
O
P
A
C
K
s

w
i
t
h

A
d
d
i
t
i
o
n
a
l

O
p
t
i
o
n
s
(14) Three-phase 400 VAC, Model: SGDV210D0A002000 and 260D0A002000
1800.5
(Mounting Pitch) Terminal
2-M4 Screws
Ground Terminal
2-M6 Screws
Terminal
6-M6 Screws
Terminal
4-M6 Screws
CN2
CN8
CN1
CN7
CN3
Model
Input Voltage
230
230
250
(75)
(17)
(
2
0
)
(
1
2
0
)
210
13
25
4-M6 Screw Holes
Air Flow
Air Flow
3
5
0
3
5
0
7
.
5
3
3
5
0
.
5
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
1
6
0
Air Flow
Air Flow
Ground Terminal
2-M6 Screws
Terminal
2-M4 Screws
Terminal
6-M6 Screws
Terminal
4-M6 Screws
230
4
0
0
CN2
CN8
CN1
CN7
CN3
Model
Input Voltage
(75)
(17) (
2
0
)
(
1
2
0
)
250
13 1800.5
(Mounting Pitch)
230
25
4-M6 Screw Holes
4
0
0
7
.
5
3
8
5
0
.
5
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
1
6
0
250
279
External Dimensions Units: mm (for MECHATROLINK-II Communications Reference Type SERVOPACKs)
(1) Single-phase 100 VAC, Model: SGDVR70F1A000000, SGDVR90F1A002000,
and SGDV2R1F1A002000
(2) Single-phase 100 VAC, Model: SGDV2R8F1A002000
1
6
0
1
5
0
0
.
5
5
2-M4
5
60
300.5
97 2
(75)
(7)
(
1
5
)
60 170
23 (4)
1
6
0
CN3
CN6
CN7
CN1
CN8
CN2
(
1
2
0
)
Air Flow
Air Flow
Input Voltage
Model
Two
Terminals
Ground
Terminal
2-M4
Screws
(Mounting Pitch)
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
Screw Holes
SERVOPACK
Rear View
(
1
5
)
1
6
0
90
CN3
CN6
CN7
CN1
CN8
CN2
97 2
(75) 180
23
(4)
(7)
(
1
2
0
)
1
6
0
1
5
0
0
.
5
5
3-M4
90
580.5 6
Air Flow
Air Flow
Air Flow
Input Voltage
Cooling Fan
Model
Two
Terminals
Ground Terminal
2-M4 Screws
(Mounting Pitch)
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
Screw Holes
SERVOPACK
Rear View
280
SERVOPACKs

S
E
R
V
O
P
A
C
K
s

w
i
t
h

A
d
d
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o
n
a
l

O
p
t
i
o
n
s
(3) Three-phase 200 VAC, Model: SGDV-R70A1B002000, SGDVR90A1B002000,
and SGDV1R6A1B002000
(4) Three-phase 200 VAC, Model: SGDV2R8A1B002000
CN3
CN6
Model
CN7
CN1
CN8
CN2
Input Voltage
60
Two
Terminals
Ground Terminal
2-M4 Screws
1
6
0
(
1
2
0
)
140
(7)
(4)
(75)
(25) 23
(
1
5
)
SERVOPACK Rear View
60
35
1
6
0
5
1
5
0
0
.
5

(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
2-M4 Screw Holes
97 2
CN3
CN6
CN7
CN1
CN8
CN2
Model
Input Voltage
60
Two
Terminals
Ground Terminal
2-M4 Screws
1
6
0
(
1
2
0
)
170
(7)
(4)
(75)
(25) 23
(
1
5
)
SERVOPACK Rear View
60
300.5
(Mounting Pitch)
5
1
6
0
5
1
5
0
0
.
5

(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
2-M4 Screw Holes
97 2
281
(5) Three-phase 200 VAC, Model: SGDV3R8A1A002000, SGDV5R5A1A002000,
and SGDV7R6A1A002000
1
6
0
CN3
CN6
CN7
CN1
CN8
CN2
90
(
1
5
)
(7)
(
1
2
0
)
(4)
97 2
(75) 180
23 (25)
90
1
6
0
1
5
0
0
.
5
5
6
3-M4
580.5
Air Flow
Air Flow
Air Flow
Input Voltage
Cooling Fan
Model
Two
Terminals
Ground Terminal
2-M4 Screws
(Mounting Pitch)
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
Screw Holes
SERVOPACK
Rear View
1
6
0
110
CN6
CN3
CN7
CN1
CN8
CN2
23 (25)
2
(75)
97
180
(4)
(
1
5
)
(7)
(
1
2
0
)
1
6
0
1
5
0
0
.
5
5
110
5 800.5
4-M4
Air Flow
Air Flow
Input Voltage
Model
Two
Terminals
Ground Terminal
2-M4 Screws
(Mounting Pitch)
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
Screw Holes
SERVOPACK
Rear View
282
SERVOPACKs

S
E
R
V
O
P
A
C
K
s

w
i
t
h

A
d
d
i
t
i
o
n
a
l

O
p
t
i
o
n
s
Terminal
13-M4
Screws
Terminal Details
110
120
2
5
0
CN3
CN6
CN7
CN1
CN8
CN2
1
6
0
(
1
5
)
(7)
1
2
0
(4)
180 (75)
22
2 97
(
9
0
)
(30)
4-M4
1
8
0
1
7
0
0
.
5
5
120
5
900.5
Air Flow
Air Flow
Input Voltage
Cooling
Fan
Model
Ground Terminal
2-M4 Screws
(Mounting Pitch)
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
Screw Holes
SERVOPACK
Rear View
Terminal
13-M4
Screws
Terminal Details
110
130
2
5
0
CN3
CN6
CN7
CN1
CN8
CN2
1
6
0
(
1
5
)
(7)
(
1
2
0
)
(5)
210
(75)
22
2 97
(
1
0
0
)
(33)
4-M5
2
5
0
2
3
8
.
5
0
.
5
1000.5
130
5
6
Air Flow
Air Flow
Input Voltage
Cooling Fan
Model
Ground
Terminal
2-M4
Screws
(Mounting Pitch)
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
Screw Holes
SERVOPACK
Rear View
(7) Single-phase 200 VAC, Model: SGDV120A1A008000 (1.5 kW, single-phase input type)
Three-phase 200 VAC, Model: SGDV180A1A002000, and SGDV200A1A002000
283
CN3
CN6
CN7
CN1
CN8
CN2
170
3
5
0
1
6
0
190
7
.
5
3
5
0
25
170
(
1
5
)
(7)
(
1
2
0
)
210
22
(75)
Air Flow
Air Flow
Input Voltage
Model
Ground Terminal
2-M6 Screws
Terminal
6-M6 Screws
Terminal
5-M6 Screws
4-M6 Screw Holes
3
3
5
0
.
5

(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
1200.5
(Mounting Pitch)
260
280
4
5
0
1
6
0
CN7
CN1
CN8
CN2
CN3
CN6
(
1
5
)
(7)
(
1
2
0
)
275
22
(75)
7
.
5
4
5
0
4
3
5
0
.
5
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
2000.5
(Mounting Pitch)
30
260
Air Flow
Air Flow
Input Voltage
Model
Ground Terminal
2-M6 Screws
Terminal
6-M6 Screws
Terminal
5-M6 Screws
4-M6 Screw Holes
284
SERVOPACKs

S
E
R
V
O
P
A
C
K
s

w
i
t
h

A
d
d
i
t
i
o
n
a
l

O
p
t
i
o
n
s
(11) Three-phase 400 VAC, Model: SGDV1R9D1A002000, 3R5D1A000000, and 5R4D1A000000
5
110
4-M4 Screw Holes
5
.
5
1
6
0
1
4
9
.
5
0
.
5
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
1000.5
(Mounting Pitch)
(
1
5
)
(7)
(
1
2
0
)
180
23 (25)
(75)
(4)
Air Flow
Input Voltage
Model
CN6
CN3
CN7
CN1
CN8
CN2
110
130
1
6
0
1
6
0
Air Flow
Two Terminals
Ground Terminal
2-M4 Screws
Nameplate
(12) Three-phase 400 VAC, Model: SGDV8R4D1A002000 and 120D1A000000,
5
110
4-M5 Screw Holes
6
2
5
0
2
3
8
.
5
0
.
5
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
1000.5
(Mounting Pitch)
(
1
5
)
(7)
(
1
2
0
)
180
22
(75)
(4)
Air Flow
Input Voltage
Model
CN6
CN3
CN7
CN1
CN8
CN2
110
130
2
5
0
Ground Terminal
2-M4 Screws
Air Flow
Nameplate
1
6
0
285
(13) Three-phase 400 VAC, Model: SGDV170D1A002000
Air Flow
Air Flow
Input Voltage
Model
CN6
CN3
CN7
CN1
CN8
CN2
2
5
0
135
155
(
1
5
)
(7)
(
1
2
0
)
22
230 (75)
5
135
4-M5 Screw Holes
6
2
5
0
2
3
8
.
5
0
.
5

(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
1250.5
(Mounting Pitch)
1
6
0
1800.5
(Mounting Pitch)
Terminal
2-M4 Screws
Ground Terminal
2-M6 Screws
Terminal
6-M6 Screws
Terminal
4-M6 Screws
CN2
CN8
CN1
CN7
CN3
CN6
Model
Input Voltage
230
230 (75)
(7)
(
1
5
)
(
1
2
0
)
210
13
25
Air Flow
3
5
0
3
5
0
7
.
5
3
3
5
0
.
5
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
250
1
6
0
286
SERVOPACKs

S
E
R
V
O
P
A
C
K
s

w
i
t
h

A
d
d
i
t
i
o
n
a
l

O
p
t
i
o
n
s
Ground Terminal
2-M6 Screws
Terminal
2-M4 Screws
Terminal
6-M6 Screws
Terminal
4-M6 Screws
230
4
0
0
CN2
CN8
CN1
CN7
CN3
Input Voltage
CN6
(75)
(7)
(
1
5
)
(
1
2
0
)
250
13 1800.5
(Mounting Pitch)
230
25
4-M6 Screw Holes
4
0
0
7
.
5
3
8
5
0
.
5
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
Air Flow
Air Flow
250
Model
1
6
0
287
External Dimensions Units: mm (for Other Control Architecture Type SERVOPACKs)
(1) Single-phase 100 VAC, Model: SGDVR70FEA002000, SGDVR90FEA002000,
and SGDV2R1FEA002000
(2) Single-phase 100 VAC, Model: SGDV2R8FEA000200
1
6
0
1
5
0
0
.
5
5
2-M4
5
60
300.5
97 2
(75)
(7)
(
1
5
)
60 170
23 (4)
1
6
0
CN3
CN7
CN1
CN8
CN2
(
1
2
0
)
Air Flow
Air Flow
Input Voltage
Model
Two
Terminals
Ground
Terminal
2-M4
Screws
(Mounting Pitch)
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
Screw Holes
SERVOPACK
Rear View
(
1
5
)
1
6
0
90
CN3
CN7
CN1
CN8
CN2
97 2
(75) 180
23
(4)
(7)
(
1
2
0
)
1
6
0
1
5
0
0
.
5
5
3-M4
90
580.5 6
Air Flow
Air Flow
Air Flow
Input Voltage
Cooling Fan
Model
Two
Terminals
Ground Terminal
2-M4 Screws
(Mounting Pitch)
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
Screw Holes
SERVOPACK
Rear View
The following drawings illustrate the external dimensions of SERVOPACKs with Interface Option E with option modules.
288
SERVOPACKs

S
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O
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A
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s

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s
(3) Three-phase 200 VAC, Model: SGDV-R70AEA002000, SGDVR90AEA002000,
and SGDV1R6AEA002000
(4) Three-phase 200 VAC, Model: SGDV2R8AEA002000
CN3
Model
CN7
CN1
CN8
CN2
Input Voltage
60
Two
Terminals
Ground Terminal
2-M4 Screws
1
6
0
Air Flow
Air Flow
(
1
2
0
)
140
(7)
(4)
(75)
(25) 23
(
1
5
)
SERVOPACK Rear View
60
35
1
6
0
5
1
5
0
0
.
5

(
M
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n
g

P
i
t
c
h
)
2-M4 Screw Holes
97 2
CN3
CN7
CN1
CN8
CN2
Model
Input Voltage
60
Two
Terminals
Ground Terminal
2-M4 Screws
1
6
0
Air Flow
Air Flow
(
1
2
0
)
170
(7)
(4)
(75)
(25) 23
(
1
5
)
SERVOPACK Rear View
60
300.5
(Mounting Pitch)
5
1
6
0
5
1
5
0
0
.
5

(
M
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P
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h
)
2-M4 Screw Holes
97 2
289
(5) Three-phase 200 VAC, Model: SGDV3R8AEA002000, SGDV5R5AEA002000,
and SGDV7R6AEA002000
(6) Three-phase 200 VAC, Model: SGDV120AEA002000
1
6
0
CN3
CN7
CN1
CN8
CN2
90
(
1
5
)
(7)
(
1
2
0
)
(4)
97 2
(75) 180
23 (25)
90
1
6
0
1
5
0
0
.
5
5
6
3-M4
580.5
Air Flow
Air Flow
Air Flow
Input Voltage
Cooling Fan
Model
Two
Terminals
Ground Terminal
2-M4 Screws
(Mounting Pitch)
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
Screw Holes
SERVOPACK
Rear View
1
6
0
110
CN3
CN7
CN1
CN8
CN2
23 (25)
2
(75)
97
180
(4)
(
1
5
)
(7)
(1
2
0
)
1
6
0
1
5
0
0
.
5
5
110
5 800.5
4-M4
Air Flow
Air Flow
Input Voltage
Model
Two
Terminals
Ground Terminal
2-M4 Screws
(Mounting Pitch)
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
Screw Holes
SERVOPACK
Rear View
290
SERVOPACKs

S
E
R
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O
P
A
C
K
s

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s
Terminal
13-M4
Screws
Terminal Details
110
120
2
5
0
CN3
CN7
CN1
CN8
CN2
1
6
0
(
1
5
)
(7)
1
2
0
(4)
180 (75)
22
2 97
(
9
0
)
(30)
4-M4
1
8
0
1
7
0
0
.
5
5
120
5
900.5
Air Flow
Air Flow
Input Voltage
Cooling
Fan
Model
Ground Terminal
2-M4 Screws
(Mounting Pitch)
(
M
o
u
n
t
in
g

P
it
c
h
)
Screw Holes
SERVOPACK
Rear View
Terminal
13-M4
Screws
Terminal Details
110
130
2
5
0
CN3
CN7
CN1
CN8
CN2
1
6
0
(
1
5
)
(7)
(
1
2
0
)
(5)
210 (75)
22
2 97
(
1
0
0
)
(33)
4-M5
2
5
0
2
3
8
.
5
0
.
5
1000.5
130
5
6
Air Flow
Air Flow
Input Voltage
Cooling Fan
Model
Ground
Terminal
2-M4
Screws
(Mounting Pitch)
(
M
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h
)
Screw Holes
SERVOPACK
Rear View
(7) Single-phase 200 VAC, Model: SGDV120AEA008000 (1.5 kW, single-phase input type)
Three-phase 200 VAC, Model: SGDV180AEA002000, and SGDV200AEA002000
(8) Three-phase 200 VAC, Model: SGDV330AEA000000
291
(9) Three-phase 200 VAC, Model: SGDV470AEA002000, SGDV550AEA002000
(10) Three-phase 200 VAC, Model: SGDV590AEA002000, SGDV780AEA002000
CN3
CN7
CN1
CN8
CN2
170
3
5
0
1
6
0
190
7
.
5
3
5
0
25
170
(
1
5
)
(7)
(
1
2
0
)
210
22
(75)
Air Flow
Air Flow
Input Voltage
Model
Ground Terminal
2-M6 Screws
Terminal
6-M6 Screws
Terminal
5-M6 Screws
4-M6 Screw Holes
3
3
5
0
.
5

(
M
o
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n
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g

P
i
t
c
h
)
1200.5
(Mounting Pitch)
260
280
4
5
0
1
6
0
CN7
CN1
CN8
CN2
CN3
(
1
5
)
(7)
(
1
2
0
)
275
22
(75)
7
.
5
4
5
0
4
3
5
0
.
5
(
M
o
u
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t
i
n
g

P
i
t
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h
)
2000.5
(Mounting Pitch)
30
260
Air Flow
Air Flow
Input Voltage
Model
Ground Terminal
2-M6 Screws
Terminal
6-M6 Screws
Terminal
5-M6 Screws
4-M6 Screw Holes
292
SERVOPACKs

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A
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s

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s
5
110
4-M4 Screw Holes
5
.
5
1
6
0
1
4
9
.
5
0
.
5
(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
1000.5
(Mounting Pitch)
(
1
5
)
(7)
(
1
2
0
)
180
23 (25)
(75)
(4)
Air Flow
Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
110
130
1
6
0
1
6
0
Air Flow
Two Terminals
Ground Terminal
2-M4 Screws
Nameplate
5
110
4-M5 Screw Holes
6
2
5
0
2
3
8
.
5
0
.
5
(
M
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t
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g

P
i
t
c
h
)
1000.5
(Mounting Pitch)
(
1
5
)
(7)
(
1
2
0
)
180
22
(75)
(4)
Air Flow
Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
110
130
2
5
0
Ground Terminal
2-M4 Screws
Air Flow
Nameplate
1
6
0
(11) Three-phase 400 VAC, Model: SGDV1R9DEA002000, 3R5DEA002000, and 5R4DEA002000
(12) Three-phase 400 VAC, Model: SGDV8R4DEA002000 and 120DEA002000,
293
(13) Three-phase 400 VAC, Model: SGDV170DEA002000
(14) Three-phase 400 VAC, Model: SGDV210DEA002000 and 260DEA002000
Air Flow
Air Flow
Input Voltage
Model
CN3
CN7
CN1
CN8
CN2
2
5
0
135
155
(
1
5
)
(7)
(
1
2
0
)
22
230 (75)
5
135
4-M5 Screw Holes
6
2
5
0
2
3
8
.
5
0
.
5

(
M
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g

P
i
t
c
h
)
1250.5
(Mounting Pitch)
1
6
0
1800.5
(Mounting Pitch)
Terminal
2-M4 Screws
Ground Terminal
2-M6 Screws
Terminal
6-M6 Screws
Terminal
4-M6 Screws
CN2
CN8
CN1
CN7
CN3
Model
Input Voltage
230
230 (75)
(7)
(
1
5
)
(
1
2
0
)
210
13
25
Air Flow
3
5
0
3
5
0
7
.
5
3
3
5
0
.
5
(
M
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P
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)
250
1
6
0
294
SERVOPACKs

S
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R
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O
P
A
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K
s

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s
Ground Terminal
2-M6 Screws
Terminal
2-M4 Screws
Terminal
6-M6 Screws
Terminal
4-M6 Screws
230
4
0
0
CN2
CN8
CN1
CN7
CN3
Input Voltage
(75)
(7)
(
1
5
)
(
1
2
0
)
250
13 1800.5
(Mounting Pitch)
230
25
4-M6 Screw Holes
4
0
0
7
.
5
3
8
5
0
.
5
(
M
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g

P
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c
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)
Air Flow
Air Flow
250
Model
1
6
0
(15) Three-phase 400 VAC, Model: SGDV280DEA002000 and 370DEA002000
295
Selecting Cables
Safety
NOTE: For information about option module cables, refer to the
particular option module section of this catalog.
Cable
Cable for
Analog Monitor
Digital Operator
Converter Cable
Cable for
I/O Signals
LED Indicator for
External Device
CN1
CN5
CN3
CN7
CN8
Digital
Operator
'M+
G'C1 C1 GC1 REF 17GE
ALARM
177 CG
SVON
GC11 MC1E.GE
EGE
SERVO
READ WRITE
SERVO
YASKAWA
DIGITAL OPERATOR 1G+C+'7E
Connection Cable for
Personal Computer
1Cables for CN1

CN3

CN5

CN7

CN8 for SERVOPACKs with additional options CN11
CN1
Connector Terminal
Converter Unit
0.5 m SBK-U-VBA-A5
3 m SBK-U-VBA-03
at One End
1 m JZSP-CSI02-1-E
3 m JZSP-CSI02-3-E
CN3
Digital Operator
Converter Cable
*1
2.5 m JZSP-CVS06-02-E (6)
CN5

1 m JZSP-CA01-E (7)
CN8

Cables for Safety
Functions
Cables with
Connector
*2
3 m JZSP-CVH03-03-E (8)
Connector kit
*3
Model : 2013595-1
Soldered
SERVOPACK End
ALARM
l .ll SVON
'11l11 lll1'1 11'1
YASKAWA
3
1
0
3
1
4JZSP-CVS05-A3-E
JZSP-CVS06-02-E
296
SERVOPACKs

S
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O
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A
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s
Selecting Cables
Connector Kit
Model
Case Connector
Model Qty Model Qty
JZSP-CSI9-2-E 10326-52A0-008* 1 set
10126-3000PE*
(Soldered)
1
Item Specifications
Cable
wire.
Cable Size
37.2 12.7
25.8
31.3
12.0
14.0
3
9
.
0
2
3
.
8
5
.
2
1
0
.
0
2.54
Pin No.14
1.27
Pin No.14
Pin No.1
21.5
15.24
1
5
1.27
25.8
5
.
1
6
.
8
1
9
.
5
2
.
9
2
.
3
1
2
.
7
Pin No.15
Pin No.26
Pin No.25
9
.
1
7
.
5
Signal Function
5 -
9 /DEC (/SI3)
16 SG Signal ground
Pin No.
297
Selecting Cables
\1l1
ALARM
l
.ll
SVON
t11l11 lll1t1
11t1
SERVO
READ WRITE
SERVO
YASKAWA
57
1
1
1
1
2
0
17.8
1000
70
+30
0
Nameplate
(8)
300
+30
0
(35) (39)
(
2
1
)
(12.7)
(
2
9
.
5
)
(
4
.
3

D
i
a
)
3
1
0
3
1
4JZSP-CVS05-A3-E
(Sumitomo 3M Ltd.)
CoverHDR-E14LPA5
CoverFA458036
/BK+
/BK
ALM+
ALM
+24VIN
P-OT
N-OT
/DEC
/EXT1
/EXT2
/EXT3
/SI0
BAT+
BAT
SG
PAO
/PAO
PBO
/PBO
PCO
/PCO
/SO2+
/SO2
/SO3+
/SO3
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
Blue
Blue
Pink
Pink
Green
Green
Orange
Orange
Gray
Gray
Blue
Blue
Pink
Green
Green
Pink
Orange
Orange
Gray
Gray
Blue
Blue
Pink
Pink
Green
Green
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
Red
Black
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
1
1
1
1
1
1
1
1
1
1
2
2
2
2
2
2
2
2
2
2
3
3
3
3
3
3
Pin No.
Wire
Color
Signal
Marking
Color
SERVOPACK End
Dots
Lead
Marker
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
Represents
twisted-pair
wires.
Host
Controller End
Model Cable Length
JZSP-CSI02-1-E 1 m
JZSP-CSI02-2-E 2 m
JZSP-CSI02-3-E 3 m
SERVOPACK End
Shell 10326-52A0-008
Cable (Ivory)
UL20276 VW-1SC
L
3
7
.
2
14 100
+10
-0
3 Dia. Wire Markers
(
6
.
3

D
i
a
.
)
298
SERVOPACKs

S
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A
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K
s

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O
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s
Selecting Cables
2,500
(100)
10 to 20
JZSP-CVS06-02-E
(55)
+100
0
3000+150
(8)
(11)
(20)
(33)
1 Not used
2 Not used
4 /HWBB1+ White Red
5 /HWBB2 Gray Black
6 /HWBB2+ Gray Red
7 EDM1 Orange Black
8 EDM1+ Orange Red

IMPORTANT
3 4
1 2
Socket DF11-4DS-2C*
1000 -0
+20
White
Red
Black
Black
View from Cable End
-1
torque
3, 4
Black
(2 cables)
GND(0V)
Specifications
299
Fully-Closed Loop Control Option
1System Configuration for Fully-Closed Loop Control
SERVOPACK with
Fully-Closed Loop
Control Option
Servomotor
Main Circuit Cable
Model: JZDP-D00 -000-E
Encoder Cable
External Encoder
(Provided by users.)
D003
D005
D00 J ZDP - - - 000 E
Serial Converter Unit Model
Code Appearance
Applicable
External Encoder
Hall Sensor
Manufactured by
HEIDENHAIN
Corporation
None
None
Manufactured by
Renishaw
plc.
Heidenhain serial converters are non-stock.
When using rotary servomotors with
Fully-Closed loop control, use
SERVOPACKs with option module
for Fully-Closed loop control.
1Model Designations
Note: Using the serial converter unit J ZDP-A with SGDV SERVOPACK will void our guarantee.
300
Front View (mounted on analog and pulse train type SERVOPACK)
CN31
20
98
75
Nameplate for
Fully-Closed Loop
Control Option
Nameplate for SERVOPACK
with Options
97
1
6
0
2
3
Connection Cable Between Fully Closed Loop Connector

and Serial Converter Unit (see page 314).
Option Module for Fully-Closed Loop Control
1External Dimensions Units: mm
S
E
R
V
O
P
A
C
K
s

w
i
t
h

F
u
l
l
y
-
C
l
o
s
e
d

L
o
o
p

O
p
t
i
o
n
Connector
301
1Characteristics and Specifications
Electrical
Characteristics
Power Supply Voltage +5.0 V 5%, ripple content 5% max.
Current Consumption
*1
120 mA typ. 350 mA max.
Signal Resolution Input two-phase sine wave: 1/256 pitch
Max. Response Frequency 250 kHz
Analog lnput Signals
*2
(cos, sin, Ref)
Differential input amplitude: 0.4 to 1.2 V
Input signal level: 1.5 to 3.5 V
Output Signal
*3
Position data, alarms
Output Method
Serial data communications
[HDLC (High-level Data Link Control) protocol format with Manchester codes]
Output Circuit
Balanced type transceiver (SN75LBC176 or the equivalent),
internal terminating resistor: 120
Mechanical
Characteristics
Approx. Mass 150 g
Vibration Resistance 98 m/s
2
max. (10 to 2500 Hz) in three directions
Impact Resistance 980 m/s
2
, (11 ms) two times in three directions
Environmental
Conditions
Surrounding Air Temperature 0 to 55C
Storage Temperature 20 to 80C
Humidity 20% to 90%RH (no condensation)
*1: The current consumption of the external encoder is not included in this value.
The current consumption of the external encoder must be taken into consideration for the current capacity of host controller that supplies the power.
*2: Input a value within the specified range. Otherwise, incorrect position information is output, and the device may be damaged.
*3: The transmission is enabled 100 to 300 ms after the power turns on.
1Analog Signal Input Timing
The following figure shows the input timing of the analog signals.
When the cos and sin signals are shifted 180 degrees, the differential signals are the /cos and /sin signals.
The specifications of the cos, /cos, sin, and /sin signals are identical except for the phase.
Input the signals Ref and /Ref so that they shall cross each other as shown in the figure because they are input into the converter. When
they are crossed, the output data will be counted up.
100%
45
5% to 75%5% to 75%
0
.
2

V

M
i
n
.
0
.
2

V

M
i
n
.
Zero Point
Count up Direction
0
.
2

t
o

0
.
6

V
cos
(A+)
/cos
(A)
sin
(B+)
/sin
(B)
/Ref
(R)
Ref
(R+)
cos, /cos, sin, /sin
1.5 to 3.5 V
Ref, /Ref
1.5 to 3.5 V
Precautions
1 Never perform insulation resistance and withstand voltage tests.
2 When analog signals are input to the serial converter unit, noise influence on the analog signals affects the units
ability to output correct position information. The analog cable must be as short as possible and shielded.
3 Do not connect or disconnect the unit while power is being supplied, or the unit may be damaged.
4 When using multiple axes, use a shield cable for each axis. Do not use a shield cable for multiple axes.
IMPORTANT
302
Serial Converter Units Units: mm
(1) Model: J ZDP-D003--E
(2) Model: J ZDP-D005--E
1Connection Cables
1 Recommended Cables
1 Dimensional Drawing
820.3
650.3
5
2
0
.
3
6
0
3
3
.
3
2
0
.
4
72
90
1.5
3
14.350.3
2
4
.
9
9
0
.
3
1
0
2
2
.
5
External Encoder End
Analog Signal Input Connector (CN2)
SERVOPACK End
Serial Data Output Connector (CN1)
Nameplate
4-4.2 Dia. Holes
2-4.2 Dia. Holes
4-M5 Tapped Holes, Depth10
820.3
650.3
72
90
1.5
3
14.350.4
2
4
.
9
9
0
.
4
2
2
.
5
30030
1
0
5
2
0
.
3
6
0
Analog Signal Input Connector (CN2)
SERVOPACK End
Serial Data Output Connector (CN1)
Nameplate 4-4.2 Dia. Holes 2-4.2 Dia. Holes
Name Application Model Length
Cables with
Connectors at
Both Ends
Connection between SERVOPACK
(Option module for Fully-Closed
loop control ) connector CN31 and
serial converter unit
J ZSP-CLP70-03-E 3 m
L
6
.
8
SERVOPACK End
(Option Module for Fully-closed
Loop Control End)
Plug Connector: 55100-0670
Connector: 17JE-23090-02
(
D8C
)
-CG
by DDK Ltd.
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1Connection Examples
(1) Connection Example with External Encoder by HEIDENHAIN Corporation
Model: J ZDP-D003--E
(2) Connection Example with External Encoder by Renishaw plc.
Model : J ZDP-D005--E
SERVOPACK with Option Module
for Fully-closed Loop Control
SGDV001
JZSP-CLP70--E
JZDP-D003--E
CN31 CN1 CN2
Connection Cable by
HEIDENHAIN Corporation
External Encoder
by HEIDENHAIN Corporation
JZSP-CLP70--E
JZDP-D005--E
CN31 CN1 CN2
SGDV001
External Encoder
by Renishaw plc.
15-pin Connector
2 The external encoder (analog 1 Vp-p output, D-sub 15-pin) by HEIDENHAIN Corporation can be directly connected.
2 The external encoder (analog 1 Vp-p output, D-sub 15-pin) by Renishaw plc. can be directly connected. However, the BID and DIR signals are not connected.
3 Use the external encoder-end connector to change the home position specifications of the external encoder.
17LE-13090-27-FA
(
Socket
)
by DDK Ltd.
SERVOPACK End
Serial Data Output
Pin No. Signal
1 +5V
Phase S output
Not used
Not used
0V
Phase /S output
Not used
Not used
Not used
Shield
2
3
4
5
6
7
8
9
Case
9
6
1
5
CN1 Pin No. Signal
1 cos input (A+)
2 0V
3 sin input (B+)
4 +5V
5 Not used
6
/Ref input (R) 7
Not used 8
/cos input (A) 9
0V sensor 10
/sin input (B) 11
Ref input (R+)
12 5V sensor
13
14
Not used 15
Not used
Not used
Shield Case
1
8
9
15
CN2
Analog Signal Input
17LE-13150-27-FA
Pin No. Signal
1 +5V
Phase S output
Not used
Not used
Not used
0V
Phase /S output
Not used
Not used
Shield
2
3
4
5
6
7
8
9
Case
9
6
1
5
CN1
17LE-13090-27-FA
SERVOPACK End
Serial Data Output
SERVOPACK does not have
the function to process Vq
signals.
Pin No. Signal
1 /cos input (V1)
2
3 Ref input (V0+)
/sin input (V2)
4 +5V
5 5Vs
6
Not used 7
8
cos input (V1+) 9
sin input (V2+) 10
/Ref input (V0) 11
Not used
12 0V
13
14
Inner (0V) 15
0Vs
Not used
Not used
Shield Case
1
8
9
15
CN2
Analog Signal Input
17JE-13150-02 (D8C) A-CG
304
(3) Connection Example with External Encoder by Mitutoyo Corporation (Model: ABS ST78A)
When using these external encoders, serial converter units are not required.
JZSP-CLP70--E
CN31
Connection Cable
by Mitutoyo Corporation
External Encoder by Mitutoyo
Corporation (ABS ST78A)
SGDV001
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305
EtherCAT(CoE) Communication
Reference Option
EtherCAT Connector (RJ 45)
Connector Pin Arrangement
Pins denoted as N.C. do not connect to any signal.
Ln L1
EtherCAT
controller
L2
DC24V
DC 0V
RDY
ALM
TX
RUN
ERR
BAT
CPU I/O
M-I/II
ERR
COL
RX
RUN
STRX
TX
10Base-T
Connector Description
CN11A EtherCAT signal input
CN11B EtherCAT signal output
Pin No. Signal Name Remarks
1 TD+
Send data
2 TD-
3 RD+ Receive data
4
N.C.
*
5
N.C.
*
6 RD- Receive data
7
N.C.
*
8
N.C.
*
1System Configuration for EtherCAT (CoE) Communication Reference
306
Name Specifications
CN11A

CN11B
Ethernet/EtherCAT Cables for
Industrial Use
Category: CAT5e
Shield specifications: S/UTP or S/STP
Cable length: 50 m maximum
20
Nameplate for
CAN over EtherCat
option
with Options
97
1
6
0
Front View: With front cover open
Reserved (Do not use.)
EtherCAT communication port (Input, CN11A)
EtherCAT communication port (Output, CN11B)
Reserved (CN12. Do not use.)
LED Indicators
EtherCAT secondary address
EtherCAT (CoE) Communication Reference Option
SERVOPACKs with Additional Options
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307
Specifications of the EtherCAT(CoE) Communication Reference Option
Power Specification Power Supply Method Supplied from the control power supply of the servo amplifier
Operating
Conditions
Surrounding Air/Storage
Temperature
Surrounding air temperature: 0 to 55C, Storage temperature: 20 to 85C
Ambient/Storage Humidity 90% RH or less (with no condensation)
2
2
Protection Class/
Pollution Degree
Protection class: IP10, pollution degree: 2
Others
Conformance Standards
UL508C
EN50178, EN55011/A2 Group1 Class A, EN61000-6-2
EN61800-3, EN61800-5-1, EN954-1, IEC61508-1 ~4
RoHS Directive Compliant
Baud Rate 100Mbps
Max. No. of Stations 65536 stations
Transmission Cycle 125 s or more
Cable Length between Nodes 50 m max
Topology Cascade, star, ring, line
Connector RJ -45
Profle
CANopen(CoE)
IEC61800-7 CiA402 Drive Profle
Control Mode
Homing mode
Profle position mode
Interpolated position mode
Profle velocity mode
Profle Torque mode
Cyclic sync position mode
Cyclic sync velocity mode
Cyclic sync torque mode
SERVOPACK Performance and Functions
Response frequency: 1.6 kHz
Various adjustment functions are available.
Display
EtherCAT RUN indicator (RUN) 1
EtherCAT ERR indicator (ERR) 1
EtherCAT Link/Activity indicator 2
Rotary Switch Secondary Address : 2
1 Specifications
308
SERVOPACKs with Additional Options
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309
MP2600iec Single-Axis
Motion Controller Option
20
1
6
0
(
2
2
)
97 (20)
Dimensions in mm.
Nameplate for
MP2600iec option
with Options
IEC61131-3 standardized programming environment
with PLCopen function blocks for motion control.
Self-tuning, anti-vibration, and other high performance,
easy-to-implement servo control features
Ethernet/IP, Modbus TCP/IP, and OPC Server, which
provide connectivity to PLCs, HMIs, SCADA, MES,
and ERP
Scaleability with the multi-axis MP2000iec controller
platform via the common programming environment,
MotionWorks IEC
Web server that allows for maintenance diagnostics
and troubleshooting
I/O features:
15 digital inputs
11 digital outputs
1 analog input
1 analog outpu
1 external encoder input
1 external encoder latch
LED (10 points)
Ethernet/IP or Modbus TCP/IP
Communication Port A (CN11A)
Ethernet/IP or Modbus TCP/IP
Communication Port B (CN11B)
Configuration DIP
Switches (6 points)
Battery Port (CN14)
CN13 Port
Analog I/O, Digital I/O
External Encoder (incremental)
3.6V Lithium Battery
(preserves retained variables,
absolute encoder offset,
and real-time clock data)
The MP2600iec Single Axis Motion Controller Option for the Sigma-5 amplifier provides a compact, all-in-one,
servo/controller package with the following features:
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CPU 200 MHz, 32 bit, ARM 9
Memory
SDRAM 32 MB
SRAM 512 kB with battery backup
Flash 4 MB flash. Code and parameter storage
Operator interface
LED 10 LEDs (red and green - operating mode, communication and error status
User Configuration 6x DIP switch (operating mode and communication configuration
User I/O
Controller
Side
(CN13)
Network 2x 100baseTX Ethernet
Digital input 8 programmable inputs
Digital output 8 programmable outputs
Analog input 1 ch., +/- 10V, 16 bit
Analog output 1 ch., +/- 10V, 16 bit
Pulse Counter
RS-422-compatible pulse counter input (quadrature, pulse and direction, and up/
down counter modes) with 5, 12, and 24V position latch inputs
Servo
Side
(CN1)
Sequence
Input
Allocated
Number of Inputs: 7
Functions: The signal allocation and positive/negative logic can be modified.
Forward run prohibited (P-OT), reverse run prohibited (N-OT), forward torque
limit (/P-CL), reverse torque limit (/N-CL), general-purpose input signal (/SI0 to /
SI6)
Sequence
Input
Fixed Servo Alarm (ALM)
Allocated
Number of Outputs: 3
Functions: The signal allocation and positive/negative logic can be modified.
Positioning completion (/COIN), speed coincidence detection(/V-CMP),
servomotor rotation detection (/TGON), servo ready (/S-RDY), torque limit
detection (/CLT), speed limit detection (VLT), brake (/BK), warning (/WARN), near
(/NEAR)
Network capability
OPC (Client and Server required)
Ethernet/IP
Modbus/TCP
Programming standards IEC61131/PLCopen
Diagnostic and confguration interface Web interface
Motion control performance
1 controlled axis and one external position input at a trajectory update rate of 1
kHz
Servo-Side Safety
Functions
Environmental
Conditions
Ambient Operating Temperature 0 to 55C
Ambient Storage Temperature -20C to +85C
Ambient Operating Humidity 90% RH or less (with no condensation)
Ambient Storage Humidity 90% RH or less (with no condensation)
Protection Class/Pollution Degree
Protection class: IP10, Pollution degree: 2
An environment that satisfes the following conditions.
Free of corrosive or explosive gases
Free of exposure to water, oil or chemicals
Free of dust, salts or iron dust
Operating Altitude 1,000 m above sea level or lower
Mechanical
Operating
Conditions
Vibration Resistance 4.9 m/s
2
Shock Resistance 19.6 m/s
2
Others
Free of static electricity, strong electromagnetic felds, magnetic felds or
exposure to radioactivity
Specifications of the MP2600iec Single Axis Machine Controller Option
1 General Specifications
* Allocated I/O can also be used as programmable I/O.
1 Hardware Specifications
MP2600iec Option
311
Selecting Cables
Use the following connector and cable to assemble the
cable. The CN13 connector kit includes one case and one
connector.
Connector Kit
Model
Case Connector
Model Qty Model Qty
JZSP-CSI9-1-E
10350-
52Z0-008*
1 set
10150-3000PE*
(Soldered)
1
Item Specifications
Cable
wire.
Applicable Wires AWG 24, 26, 28, 30
Cable Finished
Diameter
16 dia. max.
Cable Size
52.4 12.7
41.1
46.5
17.0
14.0
3
9
.
0
2
3
.
8
5
.
2
8
.
5
2.54
1.27
Pin No.26
Pin No.1
36.7
30.48
1
5
1.27
41.1
5
.
1
6
.
6
1
9
.
3
2
.
9
2
.
3
1
2
.
7
9
.
1
7
.
5
1Cable Selection
CN13
Connector Terminal
Converter Unit
0.5 m CBK-U-MP2B-A5
(2) 1 m CBK-U-MP2B-01
3 m CBK-U-MP2B-03
Flying Lead Cable
0.5 m CFC-U-MP2B-A5
(3) 1 m CFC-U-MP2B-01
3 m CFC-U-MP2B-03
CN14 Battery Kit SGDV-OZC02A
3.6V Lithium Battery, cable with connector, and mounting
bracket for MP2600*
CN11A

CN11B
Ethernet/EtherCAT Cables for Industrial Use
Category: CAT5e
Shield specifications: S/UTP or S/STP
Cable length: 50 m maximum
Soldered
* : This battery kit ships with the Sigma-5 amplifier when ordered with the MP2600 option.
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Selecting Cables
(3) Flying Lead Cable for CN13
CBK-U-MP2B-XX Function Chart for MP2600iec
I = Input, O = Output, P = Power
Pin
No.
Signal
Name
I/O Function
1 AO O Analog output
2 AI I Analog input
3 - - -
4 PA+ I Phase A pulse (+)
5 PA- I Phase A pulse (-)
6 GND P Encoder input ground
7 BAT+ P Controller SRAM Battery(+)
8 - - -
9 PILC5V I Phase-C latch pulse (-) for 5VDC input
11 DO_00- O Digital output 0 (-)
13 DICOM I Digital input common
14 DI_00 I Digital input 0
20 - - -
21 DO_00+ O Digital output 0 (+)
25 - - -
26 AO_GND O Analog output ground
27 AI_GND I Analog input ground
28 - - -
29 PB+ I Phase B pulse (+)
30 PB- I Phase B pulse (-)
31 GND P Encoder input ground
32 BAT- P Controller SRAM Battery(-)
33 - - -
35 PIL I Phase-C latch pulse (+)
38 DICOM I Digital input common
39 DI_01 I Digital input 1 - shared with pulse latch input
45 - - -
49 DO_07+ O Digital output 7 (+) - shared w/ position agreement COIN signal
50 - - -
CFC-U-MP2B-XX Function Chart for MP2600iec
I = Input, O = Output, P = Power
Pin
No.
Signal
Name
Color
(Solid/Band)
Function
1 BLK/RED O Analog output
2 BLK/WHT I Analog input
3 RED/GRN - -
4 BLK/BLU I Phase A pulse (+)
5 BLU/BLK I Phase A pulse (-)
6 RED/BLU P Encoder input ground
7 RED/WHT P Controller SRAM Battery(+)
8 BLK/GRN - -
9 BLK/YEL I Phase-C latch pulse (-) for 5VDC input
10 BLK/ORG I Phase-C latch pulse (-) for 24VDC input
11 RED/YEL O Digital output 0 (-)
12 RED/BRN O Digital output 2 (-)
13 RED/ORG I Digital input common
14 GRN/WHT I Digital input 0
15 GRN/BLU I Digital input 2
16 GRN/YEL I Digital input 4
17 GRN/BRN I Digital input 6
18 GRN/ORG O Digital output 4 (-)
19 WHT/BLU O Digital output 6 (-)
20 WHT/YEL - -
21 YEL/RED O Digital output 0 (+)
22 BRN/RED O Digital output 2 (+)
23 ORG/GRN O Digital output 4 (+)
24 BLU/WHT O Digital output 6 (+)
25 WHT/BRN - -
26 RED/BLK O Analog output ground
27 WHT/BLK I Analog input ground
28 GRN/RED - -
29 BLK/BRN I Phase B pulse (+)
30 BRN/BLK I Phase B pulse (-)
31 BLU/RED P Encoder input ground
32 WHT/RED P Controller SRAM Battery(-)
33 GRN/BLK - -
34 ORG/BLK I Phase-C latch pulse (-) for 12VDC input
35 YEL/BLK I Phase-C latch pulse (+)
36 WHT/ORG O Digital output 1 (-)
37 BLU/YEL O Digital output 3 (-)
38 ORG/RED I Digital input common
39 WHT/GRN I Digital input 1 - shared with pulse latch input
40 BLU/GRN I Digital input 3
41 YEL/GRN I Digital input 5
42 BRN/GRN I Digital input 7
43 BLU/BRN O Digital output 5 (-)
44 BLU/ORG O Digital output 7 (-)
45 YEL/WHT - -
46 ORG/WHT O Digital output 1 (+)
47 YEL/BLU O Digital output 3 (+)
48 BRN/BLU O Digital output 5 (+)
49 ORG/BLU O Digital output 7 (+) - shared w/ position agreement COIN signal
50 - BRN/WHT - -
AO
AI
-
PA+
PA-
GND
BAT+
-
PILC5V
PILC24V
DO_00-
DO_02-
DICOM
DI_00
DI_02
DI_04
DI_06
DO_04-
DO_06-
-
DO_00+
DO_02+
DO_04+
DO_06+
-
AO_GND
AI_GND
-
PB+
PB-
GND
BAT-
-
PILC12V
PIL
DO_01-
DO_03-
DICOM
DI_01
DI_03
DI_05
DI_07
DO_05-
DO_07-
-
DO_01+
DO_03+
DO_05+
DO_07+
MP2600iec Option
313
Sigma-5 Indexer Option
Dimensions in mm.
20
(10)
CN12
CN11
(24)
97
1
6
0
(
1
0
0
)
(
6
0
)
(75)
The configuration tool SigmaWin+ provides a wizard
that will interact with you in a dialog format to help
you setup and change the settings for your
application.
Up to 256 positioning points can be programmed in
an easy to edit program table.
A wide range of functions such as positioning,
jogging, homing, registration, backlash
compensation, and programmable signal outputs
are available.
The amplifier package comes with 19 digital inputs
and 16 digital outputs.
Interface with host controller or PLC via discrete I/O
or ASCII serial commands (RS-422 or RS-485).
The Sigma-5 SERVOPACK with indexer option provides point to point positioning capability without complex
programming. With this plug-and-play system, even the automation novice will be able to develop a high
performance application solution with minimal effort..
With front cover open
LED (green)
LED (red)
Serial command communications
connector (CN12)
I/O signal connector (CN11)
for sequence I/O signals
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Specifications of the Indexer Module
1INDEXER Module
Control Method
Program Table Method
Program table positioning in which steps are executed sequentially by commands given
through contact input or serial communications
Positioning in which station numbers are specifed by commands given through contact
input or serial communications
Max. Number of Steps 256
Max. Number of Tables 256
Max. Number of Stations 256
Serial Communications Method
Serial command by 1-channel ASCII code
Communications specifcations: RS-422/485 (50 m max.)
Connection topology: Multi-drop connection (16 axes max.)
Baud rate: 9600, 19200, 38400 bps
Other Functions Registration (positioning by external signal), homing
Display LED Lit during parameter setting, monitoring, executing utility functions, etc.
I/O Signal
Input
SERVOPACK End
Servo ON (/S-ON)
Forward run prohibited (P-OT), reverse run prohibited (N-OT)
Homing deceleration limit switch (/DEC)
Alarm reset (/ALM-RST)
Registration latch (/RGRT)
Module End
Mode selection (/MODE0/1)
Mode 0 Mode 1
Starts or interrupts program table operation (/START-STOP)
Resets program table operation (/PGMRES)
Program table selection 0 (/SEL0)
to
Program table selection 7 (/SEL7)
Starts homing (/HOME)
Starts forward JOG operation (/JOGP)
Starts reverse JOG operation (/JOGN)
JOG speed table selection 0 (/JOG0)
to
JOG speed table selection 3 (/JOG3)
Output
SERVOPACK End
Servo alarm (ALM) Servo ready (/S-RDY)
Error/warning (/WARN) Alarm code output 0 to 2 (ALO0 to ALO2)
Braking (/BK)
Module End
Positioning completed (/INPOSITION)
Programmable output 0 to 7 (/POUT0 to /POUT7)
Function Setting Range Setting Unit Description
PGMSTEP Program step Program step number (0 to 255)
POS Target position 99,999,999 to +99,999,99 Reference unit
Specifies the target position.
Absolute position (A), relative distance (I), infinite length (INFINITE), Stop
(STOP), no motion command ()
SPD Positioning speed 1 to 99,999,999 1000 reference units/min Specifies the positioning speed.
RDST
External positioning
distance
0 to 99,999,999 Reference unit
Specifies registration distance.
For no registration, set .
RSPD External positioning speed 1 to 99,999,999 1000 reference units/min Specifies registration speed.
ACC Acceleration 1 to 99,999,999
1000 reference units/
min/ms
Specifies acceleration for positioning or registration.
To continue with the acceleration specified in the previously executed program
step, set :.
DEC Deceleration 1 to 99,999,999
1000 reference units/
min/ms
Specifies deceleration for positioning or registration.
To continue with the deceleration specified in the previously executed program
step, set :.
POUT
Programmable output
signals

Specifies the operation of programmable output signals /POUT0 to /POUT7.
Active (A), inactive (N), ZONE signal (Z), maintain previous condition ( : )
EVENT Pass condition
0 to 99,999
(Waiting time settings)
ms
Sets waiting time (Tn) and any one of the following in tandem: Positioning
completion signal (I), position reference distribution completed signal (D),
positioning near signal (N), or selection signal (SELn)
LOOP Number of executions 1 to 99,999 Specifies the number of executions from positioning start to pass condition (EVENT).
NEXT
Program step to be
executed next
0 to 255
Specifies the program step (PGMSTEP) to be executed next.
To end program table operation, set END.
Program Table Functions
Indexer Option
315
Selecting Cables
1Cables for
CN11

CN12
(INDEXER Module)
CN11

Connector Kit DP9420007-E (1)
at One End
1 m JZSP-CVI01-1-E
(2) 2 m JZSP-CVI01-2-E
3 m JZSP-CVI01-3-E
Cable with Terminal
Block at One End
0.5 m JUSP-TA36V-E
(3) 1 m JUSP-TA36V-1-E
2 m JUSP-TA36V-2-E
CN12

Cable for Serial Command
Communications
Connector kit
*1
JZSP-CHI9-1 (4)
CN11
CN12
Cable for /O Signals
Cable for Serial Command Communications
*1 Use the connector kit when you make cables yourself.
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Connector Kit
Model
Case Connector
Model Qty Model Qty
DP9420007-E
10336-52A0-
008*
1 set
10136-3000PE*
(Soldered)
1
Item Specifications
Cable
wire.
Cable Size
External Dimensions of Case (Units: mm)
37.2 12.7
25.8
31.3
12.0
14.0
3
9
.
0
2
3
.
8
5
.
2
1
0
.
0
External Dimensions of Connector (Units: mm)
2.54
Pin No.19 1.27
Pin No.19
Pin No.1
27.8
21.59
1
5
1.27
32.2
5
.
1
6
.
8
1
9
.
5
2
.
9
2
.
3
1
2
.
7
Pin No.20
Pin No.36
Pin No.35
9
.
1
7
.
5
COM+
/MODE0/1
STR-STP /HOME
PGMRES /JOGP
SEL0 /JOGN
SEL1 /JOG0
SEL2 /JOG1
SEL5
SEL3 /JOG2
SEL6
SEL4 /JOG4
SEL7
INPOS+
INPOS
POUT0+
POUT0
POUT1+
POUT1
POUT2+
POUT2
POUT3+
POUT3
POUT4+
POUT4
POUT5+
POUT5
POUT6+
POUT6
POUT7+
POUT7
Shield
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
Case
Orange
-
Gray
-
White
-
Yellow
-
Pink
-
Orange
-
Gray
White
Yellow
Pink
Orange
Gray
White
White
Yellow
Yellow
Pink
Pink
Orange
Orange
Gray
Gray
White
White
Yellow
Yellow
Pink
Pink
Orange
Orange
-
Red
-
Red
-
Red
-
Red
-
Red
-
Red
-
Red
Red
Red
Red
Red
Red
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
-
1
-
1
-
1
-
1
-
1
-
2
-
2
2
2
2
3
3
3
3
3
3
3
3
4
4
4
4
4
4
4
4
4
4
5 or more
5 or more
-
Pin
No.
Wire
Color
Signal
Color
SERVOPACK End
Dots MODE0 MODE1
Lead
Marker
1
-
3
-
5
-
7
-
9
-
11
-
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
Represents twisted-pair wires.
Host
Controller End
Marking
External Dimensions of Cable (Units: mm)
Model Cable Length
JZSP-CVI01-1-E 1 m
JZSP-CVI01-2-E 2 m
JZSP-CVI01-3-E 3 m
Cable
FA375440
AWG2825P (Taiyo Cabletec Corporation)
10136-6000EL (Sumitomo 3M Ltd.)
Shell
10336-52A0-008
14
100
4
3
.
5
+10
-0
3 Dia. Wire Markers
(
8
.
1

D
i
a
.
)
Connection Diagram of JZSP-CVI01--E Cable
Selecting Cables
Indexer Option
317
(3) Cable with Terminal Block at One End (for CN11)
Configurations
SERVOPACK
Model JUSP- TA36 V
CN11
40
39 1
2
B20
A20
B1
A1
Terminal block
converter unit
40
39 1
2
B20
A20
B1
A1
Nameplate
7 7
3.5 202.5 3.5
4
5
2
9
.
5
1
5
.
5
2
0
.
5
2
4
3
2-3.5 Dia.
Cable (Black)
AWG2818P
Cover FCN-361J040-AU(Fujitsu Ltd.)
Cover10136-6000EL(Sumitomo 3M Ltd.)
L
ConnectorFCN-360C040-B(Fujitsu Ltd.)
Heat-shrinkable
tube (black)
Shell 10336-52A0-008(Sumitomo 3M Ltd.)
(47) (39)
(20) (10)
(
7
2
.
7
2
)
(
4
3
.
5
)
Model Cable Length (L) Approx. Mass
JUSP-TA36V-E 0.5 m 100 g
JUSP-TA36V-1-E 1 m 200 g
JUSP-TA36V-2-E 2 m 400 g
Note: The pin number in the SERVOPACK connector and the pin number in the terminal block are the same.
Pin numbers 1 to 36 are used in the terminal block.
Do not use a pin number of 37 or higher.
If assembling cables, refer to the Cable with Loose Wires at One End for CN11 Connection Diagram of JZSP-CVI01--E Cable on the previous page.
External Dimensions of Terminal Block (Units: mm)
Selecting Cables
318
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Selecting Cables
Connector Kit
Model
Case Connector
Model Qty Model Qty
JZSP-CHI9-1 10314-52A0-008* 1 set
10114-3000PE*
(Soldered)
1
Cable Size
12.7 29.5
18.2
23.6
8.5
3
9
.
0
2
3
.
8
7
.
0
5
.
2
2.54
1.27
13.6
7.62
1
5
1.27
18.2
5
.
1
6
.
8
1
9
.
5
2
.
9
2
.
3
1
2
.
7
9
.
1
7
.
5
Pin No.8
Pin No.8
Pin No.1
Pin No.9
Pin No.14
Pin No.13
Item Specifications
Cable
wire.
Indexer Option
319
Sigma-5 Functional Safety Option
The STO (Safe Torque Off) function is integrated into the standard SERVOPACK.
Additional functions SS1 (Safe Stop 1), SS2 (Safe Stop 2), and SLS (Safe Limited Speed) can be
accessed by choosing the advanced safety option
The functional safety option for the Sigma-5 SERVOPACK provides the functionality necessary to handle
the different safe machine states required in your application
75 97 20
CN21
(24)
(9.5)
CN22
5
4
1
2
1
6
0
Safe Torque Off (STO)
t
n
0
Safe Stop 1 (SS1)
t
n
0
Speed monitoring
Safe Stop 2 (SS2)
t
n
0
Speed monitoring
Position
monitoring
Safely Limited Speed (SLS)
t
n
0
Speed monitoring
The Sigma-5 SERVOPACKs are certified by TUV SUD and comply with the following safety standards:
Description Standard Performance
Safety Integrity Level
IEC 61508 SIL 2
IEC 62061 SILCL2
Performance Level EN ISO 13849-1 Pl-d
Stop functions IEC 60204-1 Stop category 0/1/2
Functional Safety IEC 61800-5-2 STO/SS1/SS2/SLS
320
Operating
Conditions
Ambient Temperature 0 to +55C
Storage Temperature 20 to +85C
Ambient Humidity 90% RH or less
With no freezing or condensation
Storage Humidity 90% RH or less
Vibration Resistance 4.9 m/s2
Shock Resistance 19.6 m/s2
Protection Class IP10
An environment that satisfies the following conditions.
Free of corrosive or flammable gases
Free of exposure to water, oil, or chemicals
Free of dust, salts, or iron dust
Pollution Degree 2
Others
Compliance with North American Safety Standards, European Directives, and Safety Standards (SERVOPACK +Safety Module)
North American Safety Standards UL508C (E147823)
European
Directives
Machinery Directive
(2006/42/EC)
EN ISO 13849-1: 2008
EN 954-1
EMC Directive
(2004/108/EC)
EN 55011/A2 group 1, class A
EN 61000-6-2
EN 61800-3
Low Voltage Directive
(2006/95/EC)
EN 50178
EN 61800-5-1
Safety Standards
Safety of Machinery EN ISO 13849-1, EN 954-1, IEC 60204-1
Functional Safety IEC 61508-1 to -7, IEC 62061, IEC 61800-5-2
EMC Directive IEC 61326-3-1
Safety Function
IEC 61800-5-2 IEC 60204-1
Safe Torque Off (STO) Stop Category 0
Safe Stop 1 (SS1) Stop Category 1
Safe Stop 2 (SS2) Stop Category 2
Safely Limited Speed (SLS)
Number of Function 2
Safety Function A Input signal: Two channels (redundant signals), output signal: one channel
Safety Function B Input signal: Two channels (redundant signals), output signal: one channel
Safe Performance
Safety Integrity Level SIL2, SILCL2
Probability of Dangerous
Failure per Hour
PFH <3.3 [1/h]
Category Cat3
Performance Level PLd (Category 2)
Mean Time to Dangerous
Failure of Each Channel
MTTFd: High
Average Diagnostic Coverage DCave: Medium
Proof Test Interval 10 years
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Specifications of the Functional Safety Option
321
Selecting Cables
CN21
CN22
Cable for Functional
Safety Option
Cable with Connector
*1
3 m J ZSP-CVH03-03-E (1)
Connector Kit
*2
Product name: Industrial Mini I/O D-shape Type1
Plug Connector Kit
Model: 2013595-1
1 CN21

CN22
Cable for Functional Safety Option
I/O connector for the Safety Function A (CN21)
I/O connector for the Safety Function B (CN22)
*1: When using the safety function, connect this cable to the safety devices.
*2: Use the connector kit when you make cables yourself.
Note: The signal name varies in accordance with the connector
used.
Connector CN21: =A
Connector CN22: =B
(1) Cable with Connector for CN21 and CN22
(Model: J ZSP-CVH03-03-E)
External Dimensions (Units: mm) Specifications
Connector Kit: 2013595-1
3000+150
8
11
20
33
1 Not used
2 Not used
3 /SRI-1 White Black
4 /SRI-1+ White Red
5 /SRI-2 Gray Black
6 /SRI-2+ Gray Red
7 EDM- Orange Black
8 EDM-+ Orange Red
322
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323
Wiring Main Circuit
2KM
1KM
1Ry
1PL
1KM
2KM
1SA
1Ry 1KM
2SA
1KM
(For servo alarm
display)
Main power
supply OFF
Servo power
supply ON
L3
L1
ENC
U
V
W
M
0 V
1Ry
ALM+
ALM
31
32
1D
L1C
L2C
B2
B3
L2
CN1
1QF
R S T
FIL
+24 V
1
2
3SA
B1/
SERVOPACK
SGDV-A
1QF
FIL
1KM
2KM
1Ry
1PL
1SA
2SA
3SA
1D
: Molded-case circuit breaker
: Noise filter
: Magnetic contactor
(for control power supply)
(for main circuit power supply)
: Relay
: Indicator lamp
: Surge absorber
: Surge absorber
: Surge absorber
: Flywheel diode
1QF
FIL
1KM
2KM
1Ry
1PL
1SA
2SA
3SA
1D
: Noise filter
: Relay
: Indicator lamp
: Surge absorber
: Surge absorber
: Surge absorber
: Flywheel diode
1QF
R T
FIL
3SA
2KM
1KM
1Ry
1PL
1KM
2KM
1SA
Servo power
supply ON
Servo power
supply OFF
1KM
1Ry 1KM
2SA
(For servo alarm
display)
L1C
L2C
L1
ENC
U
V
W
M
0 V
1Ry
ALM+
ALM
31
32 1D
B2
L2
CN1
+24V
B1/
SERVOPACK
SGDV-F
1Typical Main Circuit Wiring Examples
2Single-phase 100 V
This section describes the typical main circuit wiring examples.
WARNING
After turning OFF the power, do not touch the power terminals while charge indicator is still ON. High residual
voltage may still remain in the SERVOPACK. When the voltage is discharged, the charge indicator will turn OFF.
Make sure the charge indicator is OFF before starting wiring or inspection.
Wiring Main Circuit and Peripheral Devices
2Three-phase 200 V
Note: Every SERVOPACK of SGDV-470A, -550A-590Aand
-780A requires a specified external regenerative unit.
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SERVOPACKs
324
Wiring Main Circuit
2Three-phase 400 V
1Ry
1PL
1KM
2KM
1SA
1Ry 1KM
2SA
2KM
DC power supply
(24 VDC)
1KM
1KM
+
(For servo alarm

display)
Servo power
supply ON
Servo power
supply OFF
24 V
L1
ENC
U
V
W
M
0 V
1Ry
ALM+
ALM
31
32
1D
0 V
L3
B2
B3
L2
CN1
+24V
1
2
B1/
SERVOPACK
SGDV-D
1QF
R S T
3SA
FIL
1QF
FIL
1KM
2KM
1Ry
1PL
1SA
2SA
3SA
1D
: Noise filter
: Relay
: Indicator lamp
: Surge absorber
: Surge absorber
: Surge absorber
: Flywheel diode
1General Precautions for Wiring
1Precautions When Using the SERVOPACK with a DC Power Input
3Use a molded-case circuit breaker (QF) or fuse to protect the Main Circuit.
The SERVOPACK connects directly to a commercial power supply; it is not isolated by a transformer or other
device.
Always use a molded-case circuit breaker (QF) or fuse to protect the servo system from accidents involving
different power system voltages or other accidents.
3Install a ground fault detector.
The SERVOPACK does not have a built-in protective circuit for grounding. To configure a safer system, install a
ground fault detector against overloads and short-circuiting, or install a ground fault detector combined with a
molded-case circuit breaker.
3 Do not turn power ON and OFF frequently.
The power supply in the SERVOPACK contains a capacitor, which causes a high charging current to flow when
power is turned ON. Frequently turning power ON and OFF will causes the main circuit elements in the SERVOPACK
to deteriorate.
To ensure safe, stable application of the servo system, observe the following precautions when wiring.
Observe the following precautions when wiring the main circuit.
3 Use shielded twisted-pair wires or shielded multi-core twisted-pair wires for signal lines and encoder lines.
3 The maximum wiring length is 3 m for signal lines and 50 m for encoder lines.
Observe the following precautions when wiring the ground.
3 Use a cable as thick as possible (at least 2.0 mm2)
3 Ground the 100-V and the 200-V SERVOPACK to a resistance of 100 W or less. Ground the 400-V SERVOPACK to a
resistance of 10 W or less.
3 Be sure to ground at only one point.
3 Ground the servomotor directly if the servomotor is insulated from the machine.
The signal cable conductors are as thin as 0.2 mm or 0.3 mm. Do not impose excessive bending force or tension.
When using the SERVOPACK with a DC power input, refer to 3.1.5 Precautions When using the SERVOPACK with
a DC power input on AC Servodrive Series USERS MANUAL Design and Maintenance. (manual no.
SIEP S800000 45)
IMPORTANT
Note: Every SERVOPACK of SGDV-210D, -260D-280Dand
-370D requires a specified external regenerative unit.
325
Wiring Main Circuit
1Precautions When Using More Than One SERVOPACK
This section shows an example of the wiring when more than one SERVOPACK is used and the precautions.
2Wiring Example
Connect the alarm output (ALM) terminals for the three SERVOPACKs in series to enable alarm detection relay 1RY to operate.
When a SERVOPACK alarm is activated, the ALM output signal transistor is turned OFF.
2Precautions
Multiple servos can share a single molded-case circuit breaker (QF) or noise filter. Always select a QF or noise
filter that has enough capacity for the total power capacity (load conditions) of those servos.
1KM
R S T
1QF
2KM
Power supply
FIL
3SA
1KM
1Ry
1PL
1KM
2KM
1SA
1Ry 1KM
2SA
(For servo alarm
display)
Servo power
supply ON
Servo power
supply OFF
1D
1RY
+24 V
L1
L2
L3
L1C
V 0
L2C
SERVOPACK
Servomotor
Servomotor
M
Servomotor
L1
L2
L3
SERVOPACK
L1
L2
L3
L1C
CN1
31
32
CN1
31
32
CN1
31
32
ALM+
ALM-
L2C
SERVOPACK
ALM+
ALM-
ALM+
ALM-
M
M
Relay
terminal
Relay
terminal
Relay
terminal
Relay
terminal
L1C
L2C
1QF
FIL
1KM
2KM
1Ry
1PL
1SA
2SA
3SA
1D
: Noise filter
: Magnetic contactor (for control power supply)
: Magnetic contactor (for main circuit power supply)
: Relay
: Indicator lamp
: Surge absorber
: Surge absorber
: Surge absorber
: Flywheel diode
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SERVOPACKs
326
SERVOPACK Main Circuit Wire
1Three-phase, 200 V
1Wire Type
Cables
Terminal
Symbol
R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A 180A 200A 330A 470A 550A 590A 780A
Main Circuit Power Cable L1, L2, L3 HIV1.25 HIV2.0 HIV3.5 HIV5.5 HIV8 HIV14 HIV22
Servomotor Main Circuit Cable U, V, W HIV1.25 HIV2.0 HIV3.5 HIV5.5 HIV8.0 HIV14 HIV22
Control Power Cable L1C, L2C HIV1.25
External Regenerative Resistor Cable B1/ , B2 HIV1.25 HIV2.0 HIV3.5 HIV5.5 HIV8 HIV22
Ground Cable HIV2.0 min.
Wire Type Allowable Conductor Temperature
C Code Name
PVC Polyvinyl chloride insulated wire -
IV 600 V polyvinyl chloride insulated wire 60
HIV 600 V grade heat-resistant polyvinyl chloride insulated wire 75
Cables
Terminal
Symbol
1R9D 3R5D 5R4D 8R4D 120D 170D 210D 260D 280D 370D
Main Circuit Power Cable L1, L2, L3 HIV1.25 HIV2.0 HIV3.5 HIV5.5 HIV8 HIV14
Servomotor Main Circuit Cable U, V, W HIV1.25 HIV2.0 HIV3.5 HIV5.5 HIV8 HIV14
Control Power Cable 24V, 0V HIV1.25
External Regenerative Resistor Cable B1/ , B2 HIV1.25 HIV2.0 HIV3.5 HIV5.5 HIV8
1Three-phase, 400 V
1Single-phase, 100 V
Cables
Terminal
Symbol
R70F R90F 2R1F 2R8F
Main Circuit Power Cable L1, L2 HIV1.25 HIV2.0
Servomotor Main Circuit Cable U, V, W HIV1.25
Control Power Cable L1C, L2C HIV1.25
External Regenerative Resistor Cable B1/ , B2 HIV1.25
HIV Cross-Sectional Area (mm
2
)
*1
AWG
HIV 1.25 1.25 16
HIV 2.0 2.0 14
HIV 3.5 3.5 12
HIV 5.5 5.5 10
HIV 8.0 8.0 8
HIV 14 14 6
HIV 22 22 4
1HIV Conversion Chart
*1 Cross-sectional area applies to solid wires
327
Note: The values in the table are only for reference.
1 Wire sizes are selected for three cables per bundle at 40C ambient temperature with the rated current.
2 Use a wire with a minimum withstand voltage of 600 V for the main circuit.
3 If wires are bundled in PVC or metal ducts, take into account the reduction of the allowable current.
4 Use a heat-resistant wire under high ambient or panel temperatures, where polyvinyl chloride insulated wires
will rapidly deteriorate.
The following table shows the size and allowable currents for the wires. Use a wire whose specifications meet or are less than the
values in the table.
Nominal Cross Section
Diameter
mm
2
AWG size
Allowable Current at Ambient Temperatures A
30C 40C 50C
0.5 20 6.6 5.6 4.5
0.75 - 8.8 7.0 5.5
0.9 18 9.0 7.7 6.0
1.25 17 to 16 12.0 11.0 8.5
2.0 14 23 20 16
3.5 12 to 11 33 29 24
5.5 10 to 9 43 38 31
8.0 8 55 49 40
14.0 6 to 5 79 70 57
22.0 4 to 3 91 81 66
3600 V grade heat-resistant polyvinyl chloride insulated wires
IMPORTANT
SERVOPACKs
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Notes: 1 To comply with the low voltage directive, connect a fuse to the input side. Select the fuse or molded-case circuit breaker for the input side from among models that are
compliant with UL standards.
The table above also provides the net values of current capacity and inrush current. Select a fuse and a molded-case circuit breaker which meet the breaking characteristics
shown below.
Main circuit, control circuit: No breaking at three-times the current values of the table for 5 s.
Inrush current: No breaking at the same current values of the table for 20 ms.
2 In accordance with UL standards, the following restrictions apply. Install fuses or circuit breakers listed in accordance with the guidelines of NEC.
Main Circuit
Power Supply
Applicable Servomotor
Max. Capacity
kW
SERVOPACK
Model
SGDV-
Power Supply Capacity
per SERVOPACK
kVA
Current Capacity Inrush Current
Main Circuit
A
rms
Control Circuit
A
rms
Main Circuit
A
0-p
Control Circuit
A
0-p
Single-phase
100 V
0.05 R70F 0.2 1.5
0.38 16.5 35
0.1 R90F 0.3 2.5
0.2 2R1F 0.7 5
0.4 2R8F 1.4 10
Three-phase
200 V
0.05 R70A 0.2 1.0
0.2
33
70
0.1 R90A 0.3 1.0
0.2 1R6A 0.6 2.0
0.4 2R8A 1 3.0
0.5 3R8A 1.4 3.0
33
0.75 5R5A 1.6 6.0
1.0 7R6A 2.3 6.0
1.5 120A 3.2 7.3
0.25 2.0 180A 4 9.7
3.0 200A 5.9 15
5.0 330A 7.5 25
0.3 65.5 6.0 470A 10.7 29
7.5 550A 14.6 37
11 590A 21.7 54
0.45 109 48
15 780A 29.6 73
Three-phase
400 V
0.5 1R9D 1.1 1.4
1.2 17
1.0 3R5D 2.3 2.9

1.5 5R4D 3.5 4.3
2.0 8R4D 4.5 5.8
1.4
34
3.0 120D 7.1 8.6
5.0 170D 11.7 14.5 57
6.0 210D 12.4 17.4
1.5 34
7.5 260D 14.4 21.7
11 280D 21.9 31.8
1.7 68
15 370D 30.6 43.4
Molded-case Circuit Breaker and Fuse Capacity
SERVOPACK
SGDV-
Restrictions
180A,200A Available rated current for molded-case circuit breaker: 40 A or less
330A
Available rated current for non-time delay fuse: 70 A or less
Available rated current for time delay fuse: 40 A or less
Do not use single wires.
470A, 550A
Available rated current for molded-case circuit breaker: 60A or less
590A, 780A
Available rated current for molded-case circuit breaker: 100 A or less
Available rated current for non-time delay fuse or time delay fuse: 100 A or less
(Available rated current for class J non-time delay or faster fuse: 125 A or less)
210D, 260D
280D, 370D
329
Main Circuit
Power Supply
SERVOPACK Model
SGDV-
Recommended Noise Filter
Details
Model Specifications Leakage Current
Single-phase
100 V
R70F,R90F FN2070-6/07 Single-phase 250V 6A
0.734 mA
230VAC/50Hz
(1)
2R1F FN2070-10/07 Single-phase 250V 10A
2R8F FN2070-16/07 Single-phase 250V 16A
Single-phase
200 V
R70A, R90A, 1R6A FN2070-6/07 Single-phase 250V 6A
0.734 mA
230VAC/50Hz
2R8A FN2070-10/07 Single-phase 250V 10A
5R5A FN2070-16/07 Single-phase 250V 16A
120A FN350-30/33 Single-phase 250V 30A
5.4 mA
230VAC/50Hz
Three-phase
200 V
R70A,R90A,1R6A
2R8A,3R8A
FN258L-7/07 Three-phase 480V 7A
0.5 mA
440VAC/50Hz
(2)
5R5A,7R6A FN258L-16/07 Three-phase 480V 16A
0.8 mA
440VAC/50Hz
120A,180A HF3020C-UQC Three-phase 480V 20A
10 mA
440VAC/50Hz
200A HF3030C-UQC Three-phase 480V 30A
330A, 470A HF3050C-UQC Three-phase 480V 50A
550A HF3060C-UQC Three-phase 480V 60A
590A, 780A HF3100C-UQB Three-phase 480V 100A (3)
Three- phase
400 V
1R9D,3R5D,5R4D FN258L-7/07 Three-phase 480V 7A 0.8 mA
440VAC/50Hz
(2)
8R4D,120D FN258L-16/07 Three-phase 480V 16A
170D FMAC-0934-5010 Three-phase 480V 35A
160 mA
440VAC/50Hz
(3)
210D, 260D HF3050C-UQC Three-phase 480V 50A 10 mA
440VAC/50Hz
(2)
280D, 370D HF3080C-UQB Three-phase 480V 80A (3)
Noise Filters
1Noise Filter Selection
Note: RoHS-compliant models are not available. Contact the manufactures when in need of an RoHS-compliant model.
Some noise filters have large leakage currents. The grounding measures taken also affect the extent of the
leakage current. If necessary, select an appropriate leakage current detector or leakage current breaker
taking into account the grounding measures that are used and leakage current from the noise filter. Contact
the manufacturer of the noise filter for details
IMPORTANT
SERVOPACKs
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330
1External Dimensions (Units: mm)
(1) FN Type (by Schaffner EMC, Inc.)
Model FN2070-6/07 FN2070-10/07 FN2070-16/07
Dimensional
Drawings
Side View Top View
M
B
N
A
D
F
L
P
J
K
C
S
Side View Top View
N
R Q B
M
A
D
F
J
K
C
P
Connection Lead P/N/E
1
4
0
0
+
5
External
Dimensions
Code Dimensions
A 113.51 1561 1190.5
B 57.51 85.51
C 45.41.2 57.61
D 941 130.51 98.51
F 1030.3 1430.3 1090.3
J 250.2 400.2
K 8.40.5 8.60.5
L 32.40.5
M 4.40.1 5.30.1 4.40.1
N 60.1 7.40.1
P 0.90.1 1.20.1
Q 660.3
R 510.2
S 380.5
Noise Filters
Model FN350-30/33
Dimensional
Drawings
Side View
Top View
5
7
1
1
9
0
.
5
4
.
4
0
.
1
7
9
0
.
5
5
1
0
.
1
9
9
.
5
0
.
5
1050.5
950.2
84.51
60.1
331
Noise Filters
(3) HF Type and FS Type
(2) FN Type and HF Type
Model
FN Type [by Schaffner EMC, Inc.] HF Type [by SOSHIN ELECTRIC CO., LTD.]
FN258L-7/07 FN258L-16/07
HF3020C-UQC
HF3030C-UQC
HF3050C-UQC
HF3060C-UQC
Dimensional
Drawings
G
P
B
O
E
A
D H
L
C
F
J
4-J
K
D2
L 33.6
H5
P
Ground Marker
C1
B1
A5
1
F
1
E
External
Dimensions
mm
Code Dimensions Dimensions
A 2251 3051 236 256
B 1260.8 1420.8 221 241
C 500.6 550.6 206 226
D 2250.8 2750.8 184 204
E 2400.5 2900.5 105 115
F 250.3 300.3 90 100
G 6.50.2 76 86
H 30010 122 127
J 10.1 5.57 Dia. 5.57 Dia.
K M5 M5
L 91 M5 M5
M 16 16
N 13 13
O M5 51.4 51.4
P AWG16 AWG14 13 13
Q 61.1 61.1
Model
HF Type [by SOSHIN ELECTRIC CO., LTD.] FMAC Type [by Schurter, Inc.]
HF3080C-UQB
HF3100C-UQB
FMAC-0934-5010
External
Dimensions
mm
310
330
1
3
0
1
4
5
1
4
0
251
1
5
1
66
(17)
M6
(10)
(
4
1
)1
2
1
1
3
5
+
0
1
201
6.50.3
1150.3
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L
O
A
D
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Surge Absorber
1Surge Absorber Selection
The surge absorber (for lightning surge) absorbs lightning surge and prevents faulty operation in or damage to electronic circuits.
Main Circuit Power Supply
SERVOPACK Model
SGDV-
Recommended
Surge Absorber
Single-phase 100 V F LT-C12G801WS
Three-phase 200 V A LT-C32G801WS
Three-phase 400 V D LT-C35G102WS
Model: LT-C32G801WS, LT-C35G102WS, LT-C12G801WS [by SOSHIN ELECTRIC CO., LTD.]
External Dimensions Internal Connection Diagram
L1
Separator
Operation
Indicator
381.0 22.51.0
191.0
3
3
.
5
1
.
0
2
5
1
.
0
4
4
0
.
5
2
8
1
.
0
2
5
0
+
2
5
0
4
.
3
D
i
a
+
0
.3
0
.1
Lead Line(L3)
Lead Line(L2)*
Lead Line(L1)
Ground Wire(E)
Case
L2* L3
L1
Separator
Operation
Indicator
381.0 22.51.0
191.0
3
3
.
5
1
.
0
2
5
1
.
0
4
4
0
.
5
2
8
1
.
0
2
5
0
+
2
5
0
4
.
3
D
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a
+
0
.3
0
.1
Lead Line(L3)
Lead Line(L2)*
Lead Line(L1)
Ground Wire(E)
Case
L2* L3
*: No L2 is on the LT-C12G801WS surge absorber.
333
1Magnetic Contactor Selection
A magnetic contactor is required to make the AC power to SERVOPACK ON/OFF sequence externally. Be sure to attach a surge
absorber (for switching surge) (surge absorber unit etc.) to the excitation coil of the magnetic contactor.
Note: Contact Fuji Electric FA Components & Systems Co., Ltd.
1/L1 3/L2 5/L3 13
1/L1 3/L2 5/L3 21
A1 A2
2/T1 4/T2 6/T3 14
2/T1 4/T2 6/T3 22
A1 A2
Mounting Hole Dimensions
Aux. Contact Structure
1a
1b
Aux. Terminal
M3.5
1
4
.
5
(
2
0
.
5
)
1
8
.
5
5
2
35
6
0
30
34
Coil Terminal
M3.5 Main Terminal
M3.5
2
3
8
1
4
3
43
10 7.7
(28)
80
61
8.5
90 (Mounting Rail Height: 15)
For front mounting, aux.
contact blocks are attached.
(4
8
M
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v
a
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b
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. )
1/L1 3/L2 5/L3 13
A1 A2
2/T1 4/T2 6/T3 14
1/L1 3/L2 5/L3 21
2/T1 4/T2 6/T3 22
A1 A2
1a
1b
1
4
.
5
1
8
.
5
(
2
0
.
5
)
5
2
35
6
0
34
(28)
81
61
8.5
91 (Mounting Rail Height : 15)
4
8
M
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tin
g
H
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D
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s
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n
s
Aux.
Terminal
M3.5
Coil Terminal
M3.5
Main Terminal
M4
2
3
8
1
4
3
53
9.7 7.7
13 13 8
4
9
2
0
SC-03
3 Mounting methods : The following methods ,, are
available.
34 (48 to) 52
30 48
35 60
3Mounting screw : 2-M4
Use the two mounting holes on the diagonal line to mount a
contactor.
SC-4-1
3 Mounting methods : The following methods ,w are available.
34 (48 to) 52
w35 60
Use the two mounting holes on the diagonal line to mount a contactor.
Magnetic Contactors
Main Circuit Power Supply
SERVOPACK Model
SGDV-
Magnetic Contactor
Model Specifications
Single-phase
100 V
R70F,R90F,2R1F SC-03 (RoHS)
2R8F SC-4-1 (RoHS)
Three-phase
200 V
R70A,R90A,1R6A,2R8A,3R8A SC-03 (RoHS)
5R5A,7R6A,120A SC-4-1 (RoHS)
180A,200A SC-5-1 (RoHS)
330A, 470A SC-N1 (RoHS)
550A SC-N2 (RoHS)
590A SC-N2S (RoHS)
780A SC-N3 (RoHS)
Three-phase
400 V
1R9D,3R5D,5R4D SC-4-1/G Coil 24 VDC (RoHS)
8R4D,120D SC-5-1/G Coil 24 VDC (RoHS)
170D, 260D SC-N1/G Coil 24 VDC (RoHS)
280D, 370D SC-N2S/G Coil 24 VDC (RoHS)
Approx. Mass : 0.36 kg
SERVOPACKs
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Magnetic Contactor
SC-5-1
(28)
81
61
8.5
Aux. Terminal
M3.5
Aux. Terminal
M3.5
Coil Terminal
M3.5
Main Terminal
M4
2
0
4
9
2
3
4
3
8
1
7.7 9.7
13 13
64
5
6
M
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tin
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b
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.
3Mounting methods : The following methods , are available.
54 (56 to) 60
50 60
1/L1 3/L2 5/L3 13
A1 A2
2/T1 4/T2 6/T3 14
1/L1 3/L2 5/L3 21
2/T1 4/T2 6/T3 22
A1 A2
1a
1b
(28) 108
88
8.5
Aux.
Terminal
M3.5
Coil Terminal
M3.5
Main Terminal
M4
2
3
8
1
4
3
53
9.7
7.7
13 13 8
4
9
2
0
1
4
.
5
1
8
.
5
(
2
0
.
5
)
5
2
35
6
0
34
4
8
M
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tin
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b
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.
13 1/L1 3/L2 5/L3 23
A1 A2
14 2/T1 4/T2 6/T3 24
13 1/L1 3/L2 5/L3 21
14 2/T1 4/T2 6/T3 22
11 1/L1 3/L2 5/L3 21
12 2/T1 4/T2 6/T3 22
A1 A2
A1 A2
2a
1a1b
1
4
.
5
1
4
.
5
(
1
6
.
5
)
6
0
(35)
6
0
54
(28) 108
88
8.5
(
5
6
M
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Aux. Terminal
M3.5
Coil
Terminal
M3.5
Main
Terminal
M4
2
3
8
1
4
3
64
9.7
7.7
13 13
4
9
2
0
2b
50
Aux. Terminal
M3.5
34 (48 to) 52
35 60
SC-4-1/G
SC-5-1/G
54 (56 to) 60
50 60
335
Magnetic Contactor
1/L1 3/L2 5/L3
A1 A2
2/T1 4/T2 6/T3
53 61
54 62
43 31
44 32
83 71
84 72
13 21
14 22
(31) (23)(41)
(32) (24)(42)
Structure
130
91.5
10.5
Coil Terminal
M3.5
(28)
7
5
1
0
.
5
(55 to) 60
1
8
70
9
0
1
6
.
5
7
8
1
1
0
88
Main
Terminal
M6
Aux. Terminal
M3.5
(112)
*
*
20.5
16.8
*
: For two side mounting,
aux. contact blocks are attached.
3Mounting methods : The following methods ,w are available.
70 75 w(55 to) 65 90
SC-N2S/G
SC-N1, SC-N2
96
65.5
10.5
(28)
Main Terminal
M5
Coil Terminal
M3.5
Aux.
Terminal
M3.5
(99)
74
12.4
16.5
8
7
5
9
.
5
1
4
.
3
*
*
45 (to 50)
60 (to 65)
1/L1 3/L2 5/L3
A1 A2
*
*
2/T1 4/T2 6/T3
53 61
54 62
43 31
44 32
83 71
84 72
13 21
14 22
(31) (23)(41)
(32) (24)(42)
Structure
3Mounting methods :
The following methods , are available.
70 75 (55 to) 65 90
Use the two mounting holes on the diagonal
line to mount a contactor.
SC-N2S, SC-N3
1/L1 3/L2 5/L3
A1 A2
*
*
2/T1 4/T2 6/T3
53 61
54 62
43 31
44 32
83 71
84 72
13 21
14 22
(31) (23)(41)
(32) (24)(42)
Structure
*: These contacts are used if the auxiliary contacts
consist of four normally open (NO) and four normally
close (NC) contacts.
Note: The terminals of the auxiliary contacts are
numbered differently than conventional terminals.
The number s i n par ent hes es us e t he
conventional method.
8
7
1
5
.
6
1
0
.
5
20.5
16.8
(55 to )60
0
1
1
72.5
(28)
1
8
111
10.5
88
9
0
(112)
*
*
70
7
5
Coil Terminal
M3.5
Main Terminal
M6
Aux.
Terminal
M3.5
*
aux. contact blocks attached.
*: For two side mounting,
3Mounting methods :
The following methods , are available.
70 75 (55 to) 60 90
SC-N1/G
122
131(Mounting Rail Height : 15)
91
10.5
28
Main Terminal
M5
Coil Terminal
M3.5
Aux. Terminal
M3.5
99
74
12.4
16.5
8
7
5
9
.
5
1
4
.
3
*
*
*
to
to
1/L1 3/L2 5/L3
A1 A2
*
*
2/T1 4/T2 6/T3
53 61
54 62
43 31
44 32
83 71
84 72
13 21
14 22
(31) (23)(41)
(32) (24)(42)
Structure
3Mounting methods :
The following methods , are available
(60 to)65 70 45(to 50) 70
SERVOPACKs
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AC/DC Reactors
1Selection
If power supply harmonic suppression is needed, connect a DC reactor between the three-phase 200 V or three-phase 400 V
SERVOPACK main circuit terminals 1 and 2. Also, connect an AC reactor to single-phase 100 V SERVOPACK main circuit
terminal L1 in series.
Select AD/DC reactors according to the SERVOPACK ratings.
Note: RoHS-compliant models are not available. The last digit of an RoHS-compliant model number is R. Contact the manufacturers when selecting an RoHS- compliant model.
4-H Dia.
Notch
A
B
D
G
E
F
I Dia.
1 2
Nameplate
C
AC/DC Reactor
Model
External Dimensions Approx. Mass
kg A B C D E F G H Dia. I Dia.
X5053 35 52 90 105 35 45 50 4 4.3 0.6
X5054 35 52 80 95 30 40 45 4 4.5 0.4
X5056 35 52 80 95 30 40 45 4 4.3 0.4
X5059 50 74 125 140 35 45 60 5 5.3 1.1
X5060 40 59 105 140 35 45 60 5 5.3 1.1
X5061 35 52 80 95 35 45 50 4 4.3 0.5
X5068 50 74 125 155 53 66 75 5 6.4 1.9
X5074 30 47 70 85 28 38 45 4 4.3 0.3
X5075 40 59 100 120 40 50 55 4 4.3 0.9
X5076 50 74 125 140 35 45 60 5 4.3 1.1
X5077 50 74 125 155 53 66 75 5 5.3 1.9
Main Circuit
Power
Supply
SERVOPACK
SGDV-
AC/DC Reactor Model
Inductance
mH
Rated Current
A
Single-
phase
100 V
R70F
X5053 20.0 2.0
R90F
2R1F X5054 5.0 3.0
2R8F X5056 2.0 5.0
Three-
phase
200 V
R70A
X5061 2.0 4.8
R90A
1R6A
2R8A
3R8A
5R5A
7R6A
120A
X5060 1.5 8.8
180A
200A X5059 1.0 14.0
330A X5068 0.47 26.8
470A

550A
590A
780A
Three-
phase
400 V
1R9D X5074 4.7 1.5
3R5D
X5075 3.3 4.5
5R4D
8R4D
X5076 2.2 8.6
120D
170D X5077 1.5 14.1
210D

260D
280D
370D
337
Holding Brake Power Supply Unit
3Model
200 V input: LPSE-2H01-E
100 V input: LPDE-1H01-E
3Specifications 3External Dimensions (Units: mm)
Rated output voltage: 90 VDC
Maximum output current: DC 1.0 A
Lead wire length: 500 mm each
Maximum ambient temperature: 60C
Lead wires: Color coded (refer to the table below)
Mounting Holes 2-3 Dia.
(5.5 Counter Boring, Depth 4)
30
25
Lead wire
Nameplate
50
11
2
0
3Internal Circuits
We recommend opening or closing the circuit for the holding brakes power supply so that switching will occur on the AC side of
the holding brake power supply unit. This will reduce brake operation time compared to switching on the DC side.
When switching on the DC side, install an extra surge absorber apart from the surge absorber built in the brake circuit near the
brake coil, in order to prevent damage to the brake coil from surge voltage.
Brake Power Supply for 200 VAC
Internal Circuit for Model: LPSE-2H01-E
Brake Power Supply for 100 VAC
Internal Circuit for Model: LPDE-1H01-E
Yellow
White
Red
Black
AC side
180 to 230 V
Diode
DC (Brake) side
No polarity
Surge
Absorber
Blue
White
Red
Black
AC side
90 to 120 V
Diode Bridge
Surge
Absorber
Surge
Absorber
DC (Brake) side
No polarity
3 We recommend opening or closing the circuit for the holding brakes power supply so that switching will occur
on the AC side of the holding brake power supply unit. This will reduce brake operation time compared to
switching on the DC side.
3 When switching on the DC side, install an extra surge absorber (for lightning surge) apart from the surge
absorber (for lightning surge) built in the brake circuit near the brake coil, in order to prevent damage to the
brake coil from surge voltage.
3 Holding brake power supply units for 24 VDC are not provided by Yaskawa. Please obtain these from other
manufacturers. Do not connect holding brake power supply units for different output voltages to SERVOPACKs.
Overcurrent may result in burning.
1Holding Brake Power Supply Unit
IMPORTANT
AC input
Brake end
100 V 200 V
Blue/white Yellow/white Red/black
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Regenerative Resistors
1Regenerative Resistor Selection
Select regenerative resistors in the following manner. External resistors are to be provided by users.
Voltage
SERVOPACK Model
SGDV-
Built-in Regenerative
Resistor
Necessity of External
Necessity of External Regenerative Resistors
Single-
phase 100
V
F
None
Basically
Not Required
No built-in regenerative resistor is provided, however, normally an external
regenerative resistor is not required.
Install external regenerative resistors when the smoothing capacitor in
SERVOPACK cannot process all the regenerative power.
Three-
phase 200
V
R70A, R90A,
1R6A, 2R8A
3R8A, 5R5A, 7R6A
120A, 180A, 200A,
330A
Standard
Equipment
*1
Basically
Not Required
A built-in regenerative resistor is provided as standard. Install external
regenerative resistors when the built-in regenerative resistor cannot
process all the regenerative power.
470A, 550A
590A, 780A
None Required
*2
No built-in regenerative resistor is provided, so the external regenerative resistor is
required. If the external resistor is not connected with the SERVOPACK, the alarm
300 is detected as a regeneration error alarm.
Three-
phase 400
V
1R9D, 3R5D, 5R4D
8R4D, 120D, 170D
Standard
Equipment
*1
Basically
Not Required
A built-in regenerative resistor is provided as standard. Install external
regenerative resistors when the built-in regenerative resistor cannot
process all the regenerative power.
210D, 260D,
280D, 370D
None Required
*2
No built-in regenerative resistor is provided, so the external regenerative resistor is
required. If the external resistor is not connected with the SERVOPACK, the alarm
300 is detected as a regeneration error alarm.
1Regenerative Power and Regenerative Resistance
The rotational energy of driven machine such as servomotor is returned to the SERVOPACK. This is called regenerative power.
The regenerative power is absorbed by charging the smoothing capacitor, but when the chargeable energy is exceeded, the
regenerative power is further consumed by the regenerative resistor.
The servomotor is driven in regeneration state in the following circumstances:
While decelerating to a stop during acceleration and deceleration operation.
Continuous operation on the vertical axis.
During continuous operation with the servomotor rotated from the load side (negative load).
A servomotor may not be operated with an overhanging load, which tends to continuously rotate the motor. following figures show
a typical example of such a load.
3 DO NOT use the servomotor with the Vertical Axis Motor
Drive without Counterweight
3 DO NOT use the servomotor with the Feeding Motor Drive
External regenerative resistors are sometimes required by the AC servo drive capacity selection program SigmaJunmaSize+.
When using an external regenerative resistor, parameter Pn600 must be set.
For details, refer to 3.6.2 Setting Regenerative Resistor Capacity on Series Users Manual Design and Maintenance.
(manual no. SIEP S800000 45)
Servomotor
Tension
Servomotor
Servomotor
Servomotor rotated repeatedly at a
constant speed to maintain the tension.
3 Never operate servomotors with an overhanging load. Doing so will cause the SERVOPACKs regenerative brake
to be applied continuously and the regenerative energy of the load may exceed the allowable range causing
damage to the SERVOPACK.
3 The regenerative brake capacity of the SGDV SERVOPACKs is rated for short-term operation approximately
equivalent to the time it takes to decelerate to a stop.
IMPORTANT
*1: For specifications of built-in regenerative resistors, refer to the next page.
*2: Regenerative resistor units are available.
339
Notes: 1 Contact the manufacturers when in need of an RoHS-compliant model.
2 When using an external regenerative resistor, parameter Pn600 must be set.
For details, refer to 3.6.2 Setting Regenerative Resistor Capacity on Series Users Manual
Design and Maintenance. (manual no. SIEP S800000 45)
3Specifications
RH120 70 W,1 to 100
RH150 90 W,1 to 100
RH220 120 W,1 to 100
RH300C 200 W,1 to 10 k
RH500 300 W,1 to 30
Resistance Tolerance K : 10% J : 5% H : 3%
Temperature Resistance
Characteristics
400PPM / C (20 max.), 260PPM / C
(20 min.)
Withstand Voltage 2000 VAC / min. R: (0.1%+0.05 )
Insulation Resistance 500 VDC,20 M min.
Short-time Overload
When 10 times of rated power is applied for five
seconds, R: (2%+0.05 )
Life
1000 hours of repeating the operation ON for 90
minutes and OFF for 30 minutes, R: (5%+0.05
)
Heat Resistance
Not ignite after having applied 10 times of rated
power for one minute
Operating temperature -25C to +150C
RH120(N) 10 K
Model
NNoniductive Winding
Tolerance
Resistance
Code
K
J
H
10%
5%
3%
Tolerance
RH120, 150, 220 RH220B
RH300C RH500
1 References for External Resistor
(by Iwaki Musen Kenkyusho Co., Ltd.)
SGDV-
Specifications of Built-in Resistor Regenerative Power Processed by
Built-in Resistor
*1
W
Minimum Allowable
Resistance
Resistance
Capacity
W
Single-phase 100 V F 40
Three-phase 200
V
R70A,R90A,
1R6A,2R8A
40
3R8A, 5R5A, 7R6A 50 40 8 40
120A 20 50 10 20
180A, 200A 12 80 16 12
330A 8 180 36 8
470A (6.25)
*2
(880)
*2
(180)
*2
5.8
550A, 590A, 780A (3.13)
*3
(1760)
*3
(350)
*3
2.9
Three-phase 400
V
1R9D, 3R5D, 5R4D 108 70 14 73
8R4D, 120D 45 140 28 44
170D 32 180 36 28
210D,260D (18)
*4
(880)
*4
(180)
*4
18
280D,370D (14.25)
*5
(1760)
*5
(350)
*5
14.25
1Specifications of Built-in Regenerative Resistor
The following table shows the specifications of the SERVOPACKs built-in resistor and the amount of regenerative power
(average values) that it can process.
*1: The average regenerative power that can be handled is 20% of the rated capacity of the regenerative resistor built into the SERVOPACK.
6
2
3
7
4
7
3
2
3
3
5
.
3
4.7
312
300
270
Lead wire length L = 300
Rated power 200 W
Resistance 1 to 10 k
A
B
G
FE
3
.
5
4
.
5
D D
C
4.5 Dia.
A B C D E F G
RH120 182 150 172 16 42 22 20
RH150 212 180 202 16 44 24 30
RH220 230 200 220 15 60 24 20
RH120 70 W 1 to 100
RH150 90 W 1 to 100
RH220 120 W 1 to 100
Rated Power Model
Dimensions
Resistance
3
250
234
218
6
0
8
0
4
.
5
4
0
2-4.5 Dia.
2-M3
Lead wire length L =450
Rated power 300 W
Resistance 1 to 30
138
170
4-4.5 Dia.
154
3
0
6
0
5
4
4
0
3
.
0
Rated power 120 W
Resistance 1 to 100
SERVOPACKs
W
i
r
i
n
g

M
a
i
n

C
i
r
c
u
i
t

a
n
d

P
e
r
i
p
h
e
r
a
l

D
e
v
i
c
e
s
340
1Regenerative Resistor Unit
(1) JUSP-RA04-E, -RA05-E
Note: Only when using the regenerative resistors above, parameter Pn600 does not need to be set.
SERVOPACK Model SGDV- Regenerative Resistor Unit Model Specifications Allowable Power Loss
470A J USP-RA04-E 6.25 ,880 W 180 W
550A, 590A, 780A J USP-RA05-E 3.13 ,1760 W 350 W
210D, 260D J USP-RA18-E 18 ,880 W 180 W
280D, 370D J USP-RA19-E 14.25 ,1760 W 350 W
H
M
2
M1
Ground Terminal (M4 Screws)
4-6 Dia. Mounting Holes
Protective Cover
Cement Resistor
External Terminals (M5 Screws)
D
W
3
0
Model W H D M1 M2 Approx. Mass
J USP-RA04-E 220 350 92 180 335 4 kg
J USP-RA05-E 300 350 95 250 335 7 kg
Units: mm
External Regenerative Resistor
(2) JUSP-RA18-E (3) JUSP-RA19-E
Ground Terminal
(M4 Screws)
180
220
3
0
External
Terminal
4-M5 Screws
Cement Resistor
4-M5 Screw Holes
3
3
5
3
5
0
92
Protective
Cover
Cement Resistor
External
Terminal
22-M5 Screws
4-M5 Screw Holes
Ground Terminal
(M4 Screws)
95
Protective
Cover
250
300
3
0
3
3
5
3
5
0
341
SGDV-ES1
(Analog Voltage Reference)
Analog Voltage Reference SERVOPACKs
Pulse Train Reference SERVOPACKs
SGDV-EP1
(Pulse Train Reference)
Voltage Code Applicable Servomotor Max. Capacity kW
24 VDC/
48 VDC
1R7 0.011
2R9 0.030
S G D V - 2R9 E S1 A 002 00 0
vSeries
SGDV
SERVOPACKs
with DC Power Input
Code Specifications
E 48 VDC*
Code Specifications
00 Standard
Code Specifications
0 Standard
Code Specifications
Code Specifications
S1
Analog Voltage Reference
P1
Pulse Train Reference
*: Either a 24-VDC or a 48-VDC power supply can be used for the main circuit. The control power supply must be 24 VDC.
Note: If the option codes digits 8 to 13 are all zeros, they are omitted.
Model Designations
13th
digit
8th+9th+
10th digits
5th+6th
digits
1st+2nd+
3rd digits
4th
digit
7th
digit
11th+12th
digits
1st+2nd+3rd digits Current
4th digit Power Supply Voltage
Interface 5th+6th digits
A, B
Options (hardware) 8th+9th+10th digits
11th+12th digits Options (software)
13th digit Options (parameter)
SGLGW

Ratings
A
n
a
l
o
g
/
P
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s
e

T
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p
e

S
E
R
V
O
P
A
C
K
s
DC
342
1Compact design
With compact SERVOPACKs using less space, you can make effective use of limited space and make controller panels and systems smaller.
1Applications with DC power
These compact, high-performance SERVOPACKs can be powered by batteries so they can improve the performance of battery-operated equipment
for handling & transfer systems, such as robots used in clean rooms and automated guided vehicles (AGVs).
Two different power supplies provide power for the control circuit and for the main circuit. Troubleshooting can be performed by shutting off the
power to the main circuit if any alarm occurs.
Either a 24-VDC or 48-VDC power supply can be used for the main circuit. Use of a 48-VDC power supply can improve the torque-motor speed
characteristics (For the control circuit, only a 24-VDC power supply can be used). Degree to which the characteristics can be improved depends on
which motor is used.
1Improved usability with state-of-the-art technology
New advanced autotuning lets you adjust your system quickly for best performance. A wide variety of functions are provided: the model follow-up
control function that reduces positioning time, the vibration suppression function that suppresses vibration of machines, friction compensation
function that can exert its ability in applications with load fuctuations, and the new tuning-less function most suitable for systems that require a long
startup time or that involve a large load fuctuation.
1000
100
10
1
0.1
100 150 200 250
(%)
SGMMV-B3E, -B5E
SGMMV-B9E
D
e
t
e
c
t
i
n
g

t
i
m
e

(
s
)
1000
100
10
1
100 200 300
(%)
SGMMV-A1E,-A2E,
-A3E
D
e
t
e
c
t
i
n
g

t
i
m
e

(
s
)
SERVOPACK Model SGDV- 1R7E 2R9E
Applicable Servomotor Max. Capacity kW 0.011 0.030
Continuous Output Current Arms 1.7 2.9
Max. Output Current Arms 4.1 8.6
Regenerative Resistors None
Main Circuit* 24 VDC15 48 VDC15 24 VDC15 48 VDC15
Control Circuit 24 VDC15
Note: Overload characteristics shown above do not guarantee continuous duty of 100% or more output. Use a servomotor with effective torque within the continuous duty zone of
Torque-Motor Speed Characteristics.
*: Either a 24-VDC or a 48-VDC power supply can be used for the main circuit. When a 24-VDC power supply is used, the torque-motor speed characteristics for a
48 VDC cannot be achieved.
Features
343

Speed regulation=
No-load motor speedTotal load motor speed
100%
Rated motor speed
*2: For details, refer to 5.3.7 Setting Encoder Output Pulse in the AC Servo Drives DC Power Input Series USERS MANUAL Design and Maintenance
Control Method PWM control, sine-wave driven
Feedback Serial encoder: 17-bit (incremental/absolute)
Operating
Conditions
Ambient Humidity 90%RH or less
Storage Humidity 90%RH or less
Pollution Degree 2
Others
Applicable Standards
UL508C
EN55011/A1, EN61000-6-2, EN61800-3, EN61800-5-1
Mounting Base-mounted
Performance
Speed Control Range
1:5000 (The lower limit of the speed control range must be lower than the point at
which the rated torque does not cause the servomotor to stop.)
Speed
Regulation
*1
I/O Signal
*2
Sequence Input
Input Signals
which can be
allocated
Number of
Channels
7 channels
Functions
Servo ON (/S-ON)
Control selection(/C-SEL)
Proportional control (/P-CON)
SEN signal (/SEN)
Zero clamping (/ZCLAMP)
Reference pulse inhibit (/INHIBIT)
Alarm reset (/ALM-RST)
Gain selection (/G-SEL)
Forward external torque limit (/P-CL), reverse external torque limit (/N-CL)
Reference pulse input multiplication switching (/PSEL)
Internal set speed selection (/SPD-D, /SPD-A, /SPD-B)
Positive and negative logic can be changed.
Sequence Output
can be allocated
Number of
Channels
3 channels
Functions
Positioning completion (/COIN)
Brake (/BK)
Speed coincidence detection (/V-CMP)
Warning (/WARN)
Rotation detection (/TGON)
Near (/NEAR)
Servo ready (/S-RDY)
Reference pulse input multiplication switching output (/PSELA)
Torque limit detection (/CLT)
Speed limit detection (/VLT)
Specifications
(Contd)
344
SGDV-ES1/EP1
Specifications
Communications
Digital Operator
Compatible with the digital operator for SERVOPACKs (Model: JUSP-OP05A-
1-E).
The digital operator must be connected with the SERVOPACK via the analog
monitor unit (Model: JUSP-PC001-E) or the digital operators relay cable (Model:
JZSP-CF1S00-A3-E).
Computer (USB)
Compatible with SigmaWin+.
Compliant with the USB1.1 standard (12 Mbps)
Display Servo alarm (ALM): red; servo ready (RDY): green
Analog Monitor
Number of points: 2
Output voltage: 10 VDC (linearity effective range: 8 V)
Output through the analog monitor unit (model: JUSP-PC001-E)
Dynamic Brake (DB) Not available
Regenerative Processing Not available
Overtravelling (OT) Prevention
Decelerate to a stop or coast to a stop when overtraveling is detected and an
overtravel signal (P-OT or N-OT) is input.
Protective Functions Overcurrent, Overvoltage, low voltage, overload, etc.
A
n
a
l
o
g

V
o
l
t
a
g
e

R
e
f
e
r
e
n
c
e
Speed Control
Input Signals
Reference Voltage
Max. input voltage: 12 V (forward speed reference with positive reference)
Factory setting: 6 VDC at rated speed (Input gain setting can be changed.)
Input Impedance About 14 k
Internal Set Speed
Control
Rotation Direction Selection With P control signal
Speed Selection
With forward/reverse external torque limit signal (speed 1 to 3 selection).
Servomotor stops or another control method is used when both are OFF.
Torque
Control
Input Signals
Reference Voltage
Max. input voltage: 12 V (forward torque reference with positive reference)
Factory setting: 3 VDC at rated torque (Input gain setting can be changed.)
Input Impedance About 14 k
P
u
l
s
e

T
r
a
i
n

R
e
f
e
r
e
n
c
e
Position
Control
Feedforward Compensation 0 to 100%
Positioning Completed Width Setting 0 to 1073741824 reference units
Input
Signals
Reference
Pulse
Type
Select one of them:
Sign + pulse train, CW + CCW pulse train, or two-phase pulse train with 90phase differential
Form For line driver, open collector
Max. Input Pulse
Frequency*
Line driver
Sign + pulse train, CW + CCW pulse train: 4 Mpps
Two-phase pulse train with 90phase differential:1 Mpps
Open Collector
Sign + pulse train, CW + CCW pulse train: 200 kpps
Two-phase pulse train with 90phase differential: 200 kpps
Reference pulse input
multiplication switching
1 to 100 times
Clear Signal
Position error clear
For line driver, open collector
A
n
a
l
o
g
/
P
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e

T
y
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e

S
E
R
V
O
P
A
C
K
s
DC
345
Main Circuit
Power
Supply
Applicable
Servomotor
Max.
Capacity
W
SERVOPACK
Model
SGDV-
Main Circuit
Power Supply
Capacity per
SERVOPACK
W
Output Current
Arms
Main Circuit
Power Loss
W
Regenerative
Resistor
Power Loss
W
Control Circuit
Power Loss
W
Total Power
Loss
W
24 VDC
11 1R7E 108 1.7 3.4
7.2
10.6
30 2R9E 165 2.9 6.9 14.1
The following table shows SERVOPACKs power supply capacities and power losses at the rated output.
Note: These power supply capacities are net values at instantaneous maximum loads.
48 VDC
11 1R7E 169 1.7 3.4
7.2
10.6
30 2R9E 411 2.9 6.9 14.1
346
SGDV-ES1/EP1
Selecting Cables
1Cables for CN1

CN3

CN5

CN7 (Analog Voltage Reference/Pulse Train Reference SERVOPACKs)
CN1
Host Controller
CN5
Analog Monitor Unit
Digital Operator
\1l1
ALARM
l .ll
SVON
t11l11 lll1t1
11t1
SERVO
READ WRITE
SERVO
YASKAWA
Analog Monitor Unit
Connection Cable
Digital Operator
Relay Cable
Digital Operator
\1l1
ALARM
l .ll
SVON
t11l11 lll1t1
11t1
SERVO
READ WRITE
SERVO
YASKAWA
CN7
Connection Cable
1
1
Tl
1r
1r
Tl
CN3
Power Supply Cable
Insulated AC/DC
Converter for Control
Circuit Power Supply
Insulated AC/DC
Converter for Main
CN1
Connector Terminal
Converter Unit
0.5 m SBK-U-VBA-A5
3 m SBK-U-VBA-03
at One End
1 m JZSP-CSI02-1-E
3 m JZSP-CSI02-3-E
CN3
Power Supply Cables
at One End
1 m JZSP-CF1G00-01-E
(4)
CN5
Cables for Digital
Operator/Analog
Monitor Unit
Digital Operator Relay
Cable
0.3 m JZSP-CF1S00-A3-E (6)
Analog Monitor Unit JUSP-PC001-E (7)
Analog Monitor Unit
Connection Cable
0.3 m JZSP-CF1S05-A3-E (8)
Cables for Analog
Monitor
1 m JZSP-CA01-E (9)
CN7
Connection Cables
2.5 m JZSP-CVS06-02-E (10)
Terminal Block and
Connection Cable
Analog Monitor Unit End
With Connection
Cable (1 m)
SERVOPACK End Digital Operator End
SERVOPACK End Power Supply End
SERVOPACK End Analog Monitor
Unit End
Soldered
ALARM
l .ll SVON
'11l11 lll1'1 11'1
YASKAWA
A
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e

T
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S
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O
P
A
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K
s
DC
347
Selecting Cables
Connector Kit
Model
Case Connector
Model Qty Model Qty
JZSP-CSI9-2-E 10326-52A0-008* 1 set
10126-3000PE*
(Soldered)
1
Item Specifications
Cable
wire.
Applicable Wires AWG24,26,28,30
Cable Size
37.2 12.7
25.8
31.3
12.0
14.0
3
9
.
0
2
3
.
8
5
.
2
1
0
.
0
Configurations
SERVOPACK
Model JUSP- TA26 P
CN1 Cable Length500 mm
+50
-0
40
39 1
2
B20
A20
B1
A1
40
39 1
2
B20
A20
B1
A1
2
9
.
5
2
0
.
5
1
5
.
5
4
5
2
7 7
4
3
3.5 202.5 3.5
Connector Plug (40P)
FCN-364P040-AU
Terminal Block (40P)
M3.5 Screw
2-3.5 Dia.
10126-6000EL (by Sumitomo 3M Ltd.)
Shell
10326-52A0-008 (by Sumitomo 3M Ltd.)
Cable (Black)
AWG#28, 18P
SSRFPVV-SB
Terminal Converter Unit-end Connector (40P)
FCN-361J040-AU (by Fujitsu Ltd.)
Cover
FCN-360C040-B (by Fujitsu Ltd.)
7
3
47 39 L
3
7
.
2
Model Cable Length (L) Approx. Mass
JUSP-TA26P-E 0.5 m 100 g
JUSP-TA26P-1-E 1 m 200 g
JUSP-TA26P-2-E 2 m 400 g
External Dimensions of Terminal Block (Units: mm)
2.54
Pin No.14
1.27
Pin No.14
Pin No.1
21.5
15.24
1
5
1.27
25.8
5
.
1
6
.
8
1
9
.
5
2
.
9
2
.
3
1
2
.
7
Pin No.15
Pin No.26
Pin No.25
9
.
1
7
.
5
Note: The pin number in the SERVOPACK connector and the pin number in the terminal block are the same. Pin numbers 1 to 26 are used in the terminal block. Do not use a pin
number of 27 or higher.
If assembling cables, refer to 1Cable with Loose Wires at One End for CN1 Connection Diagram of JZSP-CSI02--E Cable on the next page.
348
SGDV-ES1/EP1
Selecting Cables
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
Blue
Blue
Pink
Pink
Green
Green
Orange
Orange
Gray
Gray
Blue
Blue
Pink
Green
Green
Pink
Orange
Orange
Gray
Gray
Blue
Blue
Pink
Pink
Green
Green
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
Red
Black
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
1
1
1
1
1
1
1
1
1
1
2
2
2
2
2
2
2
2
2
2
3
3
3
3
3
3
Pin
No.
Wire
Color
Signal Marking
Color
SERVOPACK End
Dots
Lead
Marker
Represents
twisted-pair
wires.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
Host
Controller End
ALM
/TGON
/S-RDY
COM_SG
/N-CL
SG
24VIN
/S-ON
/P-CON
P-OT
N-OT
PAO
/PAO
PBO
/PBO
PCO
/PCO
/ALM-RST
/P-CL
V-REF
SG
T-REF
SG
/V-CMP
PULS
/PULS
SIGN
/SIGN
CLR
/CLR
/COIN
Analog Voltage
Reference
Pulse Train
Reference
External Dimensions (Units: mm)
Model Cable Length
JZSP-CSI02-1-E 1 m
JZSP-CSI02-2-E 2 m
JZSP-CSI02-3-E 3 m
SERVOPACK End
Shell 10326-52A0-008
Cable (Ivory)
UL20276 VW-1SC
L
3
7
.
2
14 100
+10
-0
3 Dia. Wire Markers
(
6
.
3

D
i
a
.
)
3C AWG20 (BRG/Y)
(by Hitachi Cable Ltd.)
Cable: CL2-UL2464-AWM
3C AWG20 (WYG/Y)
SERVOPACK End
Connector (6 poles): 43025-0600
(by Molex Japan Co., Ltd.)
Contact: 43030-0001 (Chained)
1 ~ T
r

1
12
Tl
11
1r
Tl
Heat-shrinkable Tube (Black)
L 50
45
35
5
.
1

D
i
a
.
9.85
(
8
.
2
8
)
(Model: JZSP-CF1G00--E)
Model Cable Length
JZSP-CF1G00-01-E 1 m
Pin No. Cable Color Signal
1 Green/yellow FG
2 Green/yellow FG
3 Blue L2
4 White C2
5 Yellow C1
6 Red L1
Specifications
A
n
a
l
o
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e

T
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S
E
R
V
O
P
A
C
K
s
DC
349
Selecting Cables
(Units: mm)
\1l1
ALARM
l
.ll
SVON
t11l11 lll1t1
11t1
SERVO
READ WRITE
SERVO
YASKAWA
Nameplate
57
1
1
1
1
2
0
17.8
Connector: HDR-E14MAG1+(by Honda Tsushin Kogyo Co., Ltd.)
Case: HDR-E14LPA5 (by Honda Tsushin Kogyo Co., Ltd.)
1000
70
+30
0
(6) Digital Operator Relay Cable for CN5
(Model: JZSP-CF1S00-A3-E)
(8) Analog Monitor Unit Connection Cable for CN5
(Model: JZSP-CF1S05-A3-E)
(7) Analog Monitor Unit
(Model: JUSP-PC001-E)
Cable: CL2-UL20276-SB
7P AWG30
300
Connector: HDR-E14FAG1+
(by Honda Tsushin Kogyo Co., Ltd.)
Cover: HDR-E14LPHD+
(by Honda Tsushin Kogyo Co., Ltd.)
Connector: DA3P018MB2 (by Japan Aviation Electronics Industry Ltd.)
4
.
9

D
i
a
.
+30
-0
Cable: HP-SB/20276SR
AWG28 10P
(by Taiyo Cabletec Corp.)
300
Connector: 10120-6000EL (by Sumitomo 3M Ltd.)
Shell: 10320-52AO-008
14
3
3
.
3
Connector: DA3P018MB2 (by Japan
Aviation Electronics Industry Ltd.)
5
.
8

D
i
a
.
+30
-0
CN3: Connector for Digital Operator CN4: Connector for Analog Monitor
Nameplate
CN1: Connector for SERVOPACK
66.5 28
6
6
.
5
External Dimensions (Units: mm) External Dimensions (Units: mm)
Note: The cable (JZSP-CF1S05-A3-E) to
connect the SERVOPACK is not included.
350
SGDV-ES1/EP1
Selecting Cables
2,500
100
10 to 20
JZSP-CVS06-02-E
55
+100
0
(9) Analog Monitor Unit Cable for CN4
3 4
1 2
Socket DF11-4DS-2C*
ContactDF11-2428SCF*
1000 -0
+20
White
Red
Black
Black
View from Cable End
IMPORTANT Use a cable specified by Yaskawa.
torque
3, 4
Black
(2 cables)
GND(0V)
Specifications
A
n
a
l
o
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/
P
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T
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S
E
R
V
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A
C
K
s
DC
351
24 VDC/
48 VDC
1R7 0.011
2R9 0.030
v Series
SGDV
SERVOPACKs
with DC Power Input
Code Specifications
E 48 VDC*
Code Specifications
00 Standard
Code Specifications
0 Standard
Code Specifications
A, B
Code Specifications
11
Reference (for rotary servomotors)
Model Designations
S G D V - 2R9 E 11 A 002 00 0
5th+6th
digits
1st+2nd+
3rd digits
4th
digit
13th
digit
11th+12th
digits
7th
digit
8th+9th+
10th digits
SGDV-E11
MECHATROLINK-II Communications
Reference SERVOPACKs
352
SGDV-
E11
Ratings
1000
100
10
1
0.1
100 150 200 250
SGMMV-B3E, -B5E
SGMMV-B9E
(%)
D
e
t
e
c
t
i
n
g

t
i
m
e

(
s
)
1000
100
10
1
100 200 300
SGMMV-A1E,-A2E,
-A3E
(%)
D
e
t
e
c
t
i
n
g

t
i
m
e

(
s
)
Main Circuit* 24 VDC15% 48 VDC15% 24 VDC15% 48 VDC15%
Control Circuit 24 VDC15%
Note: Overload characteristics shown above do not guarantee continuous duty of 100% or more output. Use a servomotor with effective torque within the continuous duty
*: Either a 24-VDC or a 48-VDC power supply can be used for the main circuit. When a 24-VDC power supply is used, the torque-motor speed characteristics for a 48
VDC cannot be achieved. For details, refer to Torque-Motor Speed Characteristics on page 6.
M
E
C
H
A
T
R
O
L
I
N
K
-
I
I

T
y
p
e

S
E
R
V
O
P
A
C
K
s
DC
MECHATROLINK-II communications enable high-speed control for 30 stations at a maximum transmission speed of 10 Mbps
in a transmission cycle from 250s to 4 ms (set by the host controller). Such a high transmission speed allows real-time
transmission of various data required for control.
1Cost savings
Thirty stations can be connected to a single MECHATROLINK-II transmission line, so wiring costs and time are greatly
The SGDV SERVOPACK when connected to the host controller in the MECHATROLINK-II network provides not only torque,
Features
353
Operating
Conditions
Pollution Degree 2
Others
UL508C
EN55011/A1, EN61000-6-2,EN61800-3, EN61800-5-1
Performance
Speed Control Range
1 : 5000 (The lower limit of the speed control range must be lower than the point at which
the rated torque does not cause the servomotor to stop.)
Speed
Regulation
*1
Soft Start Time Setting
*2
0 to 10 s (can be set individually for acceleration and deceleration.)
I/O Signal
Sequence Input
Input Signals
which can be
allocated
Number of
Channels
3 channels
Functions
Homing deceleration switch signal (/DEC)
External latch signals (/EXT 1)
Sequence Output
can be allocated
Number of
Channels
3 channels
Functions
Brake (/BK)
Warning (/WARN)
Near (/NEAR)
Communications Computer (USB)
Display Servo alarm (ALM): red; servo ready (RDY): green; communications(COM): green
DIP Switches for MECHATROLINK-II Communication Settings
DIP switches: SW1 and
SW2
Number of poles: 4/DIP switch (two DIP switches)*3
Analog Monitor
Number of points: 2
Output through the analog monitor unit (model: J USP-PC001-E)
Specifications
(Contd) *1: Speed regulation is defined as follows:

Speed regulation=
100%
Rated motor speed
*2 : For information on soft start, refer to 4.2.10 Velocity Control (VELCTRL: 3CH) in the AC Servo Drives v Series USERS MANUAL MECHATROLINK-II Commands
*3 : For details, refer to 4.1.1 Setting Switches SW1 and SW2 in the AC Servo Drives DC Power Input v Series USERS MANUAL Design and Maintenance
354
SGDV-
E11
Decelerate to a stop or coast to a stop when overtraveling is detected and an overtravel
signal (P-OT or N-OT) is input.
Utility Functions Gain adjustment, alarm history, J OG operation, origin search, etc.
MECHATROLINK-II
Communications
Communications Protocol MECHATROLINK-II
Station Address
41H to 5FH (max. number of slaves: 30)
Set station addresses with combinations of SW1 and SW2 settings.
Transmission Speed
10 Mbps, 4 Mbps
Set by using the SW2 DIP switch.
Transmission Cycle 250 s or 0.5 ms to 4.0 ms (increments of 0.5 ms)
Number of Transmission Bytes
Can be switched between 17 bytes /station and 32 bytes / station.
Set by using the SW2 DIP switch.
Command Method
Performance
Position control, speed control, and torque control through MECHATROLINK-II
communications
Command Input
MECHATROLINK-II commands
(for sequence, motion, data setting/reference, monitoring, adjustment, and other commands.)
Specifications
M
E
C
H
A
T
R
O
L
I
N
K
-
I
I

T
y
p
e

S
E
R
V
O
P
A
C
K
s
DC
355
Main Circuit
Power
Supply
Applicable
Servomotor
Max.
Capacity
W
SERVOPACK
Model
SGDV-
Main Circuit
Power Supply
Capacity per
SERVOPACK
W
Output Current
Arms
Main Circuit
Power Loss
W
Regenerative
Resistor
Power Loss
W
Control Circuit
Power Loss
W
Total Power
Loss
W
24 VDC
11 1R7E 108 1.7 3.4
7.2
10.6
30 2R9E 165 2.9 6.9 14.1
48 VDC
11 1R7E 169 1.7 3.4
7.2
10.6
30 2R9E 411 2.9 6.9 14.1
356
SGDV-
E11
Selecting Cables
1Cables for CN1

CN3

CN5

CN6

CN7
(MECHATROLINK-II Communications Reference SERVOPACKs)
Connect to the
MECHATROLINK-2
MECHATROLINK-2
Communication Cable
CN6
LED Indicator for
External Device
CN1
~
'
1
E
t
l
r
CN7
Connection Cable
Analog Monitor Unit
Connection Cable
CN5
Analog Monitor Unit
CN3
1
1
Tl
1r
1r
Tl
Power Supply Cable
Insulated AC/DC
Insulated AC/DC
Converter for Main
CN1
at One End
1 m J ZSP-CF1I02-1-E
(1) 2 m J ZSP-CF1I02-2-E
CN3
Power Supply Cables
at One End
1 m J ZSP-CF1G00-01-E
(2)
CN5

Analog Monitor Unit
Cable
Analog Monitor Unit J USP-PC001-E (3)
Analog Monitor Unit
Connection Cable
0.3 m J ZSP-CF1S06-A3-E (4)
Cables for Analog
Monitor
CN6A

CN6B
MECHATROLINK-II
Communication Cable
Cables with
Connectors at Both
Ends
0.5
to
50 m
J EPMC-W6002--E (6)
Both Ends (with Ferrite
Core)
0.5
to
50 m
J EPMC-W6003--E (7)
Terminator J EPMC-W6022-E (8)
2.5 m J ZSP-CVS06-02-E (9)

Analog Monitor
Unit End
~
'
1
E
t
l
r
Unit End
M
E
C
H
A
T
R
O
L
I
N
K
-
I
I

T
y
p
e

S
E
R
V
O
P
A
C
K
s
DC
357
(Model: J ZSP-CF1G00--E)
3C AWG20 (BRG/Y)
3C AWG20 (WYG/Y)
SERVOPACK End
Connector (6 poles): 43025-0600 (by Molex Japan Co., Ltd.)
1 ~ T
r

1
12
Tl
11
1r
Tl
L 50
45
35
5
.
1

D
i
a
.
9.85
(
8
.
2
8
)
Selecting Cables
FG
+24VIN
P-OT
ALM
COM_SG
/DEC
N-OT
SO3
SO2
/BK
1
2
3
4
5
6
7
8
9
10
11
12
Shield
Orange
Orange
Gray
Gray
White
White
Yellow
Yellow
Pink
Black
Red
Black
Red
Black
Red
Black
Red
Black
1
1
1
1
1
1
1
1
1
Pin
No.
Wire
Color
Signal
Marking
Color
SERVOPACK End
Dots
2
3
4
5
7
8
9
10
11
Host
Controller End
Represents
twisted-pair
wires.
Connection Diagram of J ZSP-CF1I02--E Cable
(Model: J ZSP-CF1I02--E)
Model Cable Length
J ZSP-CF1I02-1-E 1 m
Model Cable Length
J ZSP-CF1G00-01-E 1 m
1 Green/yellow FG
2 Green/yellow FG
3 Blue L2
4 White C2
5 Yellow C1
6 Red L1
Specifications
30
15
Marking sticker
100 1
65
Cable: CMX/2464-1061/2A-SR LF
AWG24 5P
SERVOPACK End
43030-0011 (Loose wires)
7
.
4

D
i
a
.
5
t ' l r
r 1 ~ T
(18.85)
(
8
.
2
8
)
~
1
T
'
t
l
r
15 5
Shield
358
SGDV-
E11
(Model: J ZSP-CF1S06-A3-E)
Cable: CMX 2464-1061/2A-SB
AWG24 4P
Socket: DF11-6DS-2C
(by Hirose Electric Corporation.)
Contact: DF11-2428SCF

6
.
9

D
i
a
.
14
3
3
.
3
Shell: 10320-52AO-008
300
+30
- 0
Selecting Cables
(Model: J USP-PC001-E)
M
E
C
H
A
T
R
O
L
I
N
K
-
I
I

T
y
p
e

S
E
R
V
O
P
A
C
K
s
DC
Nameplate
66.5 28
6
6
.
5
Note: The cable (J ZSP-CF1S06-A3-E)
to connect the SERVOPACK is not
included.
359
Selecting Cables
3 4
1 2
Socket DF11-4DS-2C*
1000 -0
+20
White
Red
Black
Black
View from Cable End
torque
3, 4
Black
(2 cables)
GND (0V)
Specifications
(6) Cable with Connectors at Both Ends
for CN6
(Model: J EPMC-W6002--E)
(8) MECHATROLINK-II Terminator for CN6
(Model : J EPMC-W6022-E)
L
(8)
2
1
46
J EPMC-W6002-A5-E 0.5 m
J EPMC-W6002-01-E 1.0 m
J EPMC-W6002-03-E 3.0 m
J EPMC-W6002-05-E 5.0 m
J EPMC-W6002-10-E 10.0 m
J EPMC-W6002-20-E 20.0 m
J EPMC-W6002-30-E 30.0 m
J EPMC-W6002-40-E 40.0 m
J EPMC-W6002-50-E 50.0 m
J EPMC-W6003-A5-E 0.5 m
J EPMC-W6003-01-E 1.0 m
J EPMC-W6003-03-E 3.0 m
J EPMC-W6003-05-E 5.0 m
J EPMC-W6003-10-E 10.0 m
J EPMC-W6003-20-E 20.0 m
J EPMC-W6003-30-E 30.0 m
J EPMC-W6003-40-E 40.0 m
J EPMC-W6003-50-E 50.0 m
L
IMPORTANT Use a MECHATROLINK-II communications cable specified by Yaskawa. When using other cables, noise resistance
(7) Cable with Connectors at Both Ends
(with Ferrite Core) for CN6
360
SGDV-
E11
Selecting Cables
2,500
(100)
10 to 20
JZSP-CVS06-02-E
(55)
+100
0
M
E
C
H
A
T
R
O
L
I
N
K
-
I
I

T
y
p
e

S
E
R
V
O
P
A
C
K
s
DC
361
SGDV-E21
MECHATROLINK-III Communications
Reference SERVOPACKs
24 VDC/
48 VDC
1R7 0.011
2R9 0.030
Code Specifications
E 48 VDC*
Code Specifications
00 Standard
Code Specifications
0 Standard
Code Specifications
A, B
Code Specifications
21
Reference (for rotary servomotors)
v Series
SGDV
SERVOPACKs
with DC Power Input
Model Designations
S G D V - 2R9 E 21 A 002 00 0
5th+6th
digits
1st+2nd+
3rd digits
4th
digit
13th
digit
11th+12th
digits
7th
digit
8th+9th+
10th digits
362
SGDV-
E21
DC
M
E
C
H
A
T
R
O
L
I
N
K
-
I
I
I

T
y
p
e

S
E
R
V
O
P
A
C
K
s
Main Circuit* 24 VDC15 48 VDC15 24 VDC15 48 VDC15
Control Circuit 24 VDC15
*: Either a 24-VDC or a 48-VDC power supply can be used for the main circuit. When a 24-VDC power supply is used, the torque-motor speed characteristics for a 48
VDC cannot be achieved.
1000
100
10
1
0.1
100 150 200 250
SGMMV-B3E, -B5E
SGMMV-B9E
(%)
D
e
t
e
c
t
i
n
g

t
i
m
e

(
s
)
1000
100
10
1
100 200 300
SGMMV-A1E,-A2E,
-A3E
(%)
D
e
t
e
c
t
i
n
g

t
i
m
e

(
s
)
Note: Overload characteristics shown above do not guarantee continuous duty of 100% or more output. Use a servomotor with effective torque within the continuous duty
Ratings
MECHATROLINK-III communications enable high-speed control for 62 stations at a transmission speed of 100 Mbps in a
transmission cycle from 125 s to 4 ms (set by the host controller). Such a high transmission speed allows real-time
transmission of various data required for control.
1Cost savings
The 62 stations can be connected to a single MECHATROLINK-III transmission line, so wiring costs and time are greatly
The SGDV SERVOPACK when connected to the host controller in the MECHATROLINK-III network provides not only torque,
Features
363
Operating
Conditions
Pollution Degree 2
Others
Locations subject to static electricity noise, strong electromagnetic/magnetic fields,
radioactivity
UL508C
EN55011/A1 EN61000-6-2EN61800-3 EN61800-5-1
Performance
Speed Control Range
1 : 5000 (The lower limit of the speed control range must be lower than the point at which
the rated torque does not cause the servomotor to stop.)
Speed
Regulation
*1
I/O Signal
Sequence Input
Input Signals
which can be
allocated
Number of
Channels
3 channels
Functions
Homing deceleration switch signal (/DEC)
External latch signals (/EXT 1)
Sequence Output
Output Signals
which can be
allocated
Number of
Channels
3 channels
Functions
Brake (/BK)
Warning (/WARN)
Near (/NEAR)
Communications Computer (USB)
Display
Servo alarm (ALM): red, servo ready (RDY): green, link 1 (LK1): green, link 2 (LK2): green,
communications (COM): green
DIP Switches for MECHATROLINK-III Communication Settings
S1 DIP switch Number of poles: 8
*2
S2 DIP switch Number of poles: 4
*2
Analog Monitor
Number of points: 2
Output through the analog monitor unit (model: J USP-PC001-E)
Specifications
(Contd) *1: Speed regulation is defined as follows:

Speed regulation=
100%
Rated motor speed
*2: For details, refer to 4.1.1 Setting Switches S1 and S2 in the AC Servo Drives DC Power Input v Series USERS MANUAL Design and Maintenance
364
SGDV-
E21
DC
M
E
C
H
A
T
R
O
L
I
N
K
-
I
I
I

T
y
p
e

S
E
R
V
O
P
A
C
K
s
Decelerate to a stop or coast to a stop when overtraveling is detected and an overtravel
signal (P-OT or N-OT) is input.
MECHATROLINK-III
Communications
Station Address
03H to EFH (max. number of slaves: 62)
Set by using the S1 DIP switch.
Transmission Cycle 125s, 250s, 500s, 750s, 1 ms to 4 ms (increments of 0.5 ms)
Number of Transmission Bytes
Can be switched between 16 bytes/station, 32 bytes/station, or 48 bytes/station
Set by using the S2 DIP switch.
Command Method
Performance
Position control, speed control, and torque control through MECHATROLINK-III
communications
Command Input
(for sequence, motion, data setting/reference, monitoring, adjustment, and other commands.)
Profile
MECHATROLINK-II compatible profile
MECHATROLINK-III standard servo profile
Specifications
365
Main Circuit
Power
Supply
Applicable
Servomotor
Max.
Capacity
W
SERVOPACK
Model
SGDV-
Main Circuit
Power Supply
Capacity per
SERVOPACK
W
Output Current
Arms
Main Circuit
Power Loss
W
Regenerative
Resistor
Power Loss
W
Control Circuit
Power Loss
W
Total Power
Loss
W
24 VDC
11 1R7E 108 1.7 3.4
7.2
10.6
30 2R9E 165 2.9 6.9 14.1
48 VDC
11 1R7E 169 1.7 3.4
7.2
10.6
30 2R9E 411 2.9 6.9 14.1
366
SGDV-
E21
DC
M
E
C
H
A
T
R
O
L
I
N
K
-
I
I
I

T
y
p
e

S
E
R
V
O
P
A
C
K
s
Selecting Cables
1Cables for CN1

CN3

CN5

CN6

CN7
(MECHATROLINK-III Communications Reference SERVOPACKs)
CN1
at One End
(1) 2 m J ZSP-CF1I02-2-E
CN3
Power Supply
Cables
at One End
(2)
CN5

Analog Monitor Unit
Cable
Analog Monitor Unit J USP-PC001-E (3)
Analog Monitor Unit
Connection Cable
0.3 m J ZSP-CF1S06-A3-E (4)
Cables for Analog
Monitor
CN6A

CN6B
MECHATROLINK-III
Communication
Cable
Both Ends
0.2 to
50 m
JEPMC-W6012--E (6)
Both Ends (with Ferrite
Core)
10
to
50 m
JEPMC-W6013--E (7)
at One End
0.5
to
50 m
JEPMC-W6014-E (8)
CN7
Connection Cables
2.5 m J ZSP-CVS06-02-E (9)
Analog Monitor
Unit End
~
'
1
E
t
l

Unit End
Connect to the
MECHATROLINK-3
MECHATROLINK-3
Communication Cable
CN6
~
'
1
E
t
l
r
CN1
LED Indicator for
External Device
CN7
Connection Cable
CN5
Analog Monitor Unit
Connection Cable
Analog Monitor Unit
CN3
Power Supply Cable

Insulated AC/DC
Insulated AC/DC
Converter for Main
367
Selecting Cables
(Model: J ZSP-CF1G00--E)
3C AWG20 (BRG/Y)
3C AWG20 (WYG/Y)
SERVOPACK End
1 ~ T
r

1
12
Tl
11
1r
Tl
L 50
45
35

5
.
1

D
ia
.
9.85
(
8
.
2
8
)
FG
+24VIN
P-OT
ALM
COM_SG
/DEC
N-OT
SO3
SO2
/BK
1
2
3
4
5
6
7
8
9
10
11
12
Shield
Orange
Orange
Gray
Gray
White
White
Yellow
Yellow
Pink
Black
Red
Black
Red
Black
Red
Black
Red
Black
1
1
1
1
1
1
1
1
1
Pin
No.
Wire
Color
Signal
Marking
Color
SERVOPACK End
Dots
Lead
Marker
2
3
4
5
7
8
9
10
11
Host
Controller End
Represents
twisted-pair
wires.
Connection Diagram of J ZSP-CF1I02--E Cable
(Model: J ZSP-CF1I02--E)
Model Cable Length
Model Cable Length
1 Green/yellow FG
2 Green/yellow FG
3 Blue L2
4 White C2
5 Yellow C1
6 Red L1
Specifications
30
15
Marking sticker
100 1
65
Cable: CMX/2464-1061/2A-SR LF
AWG24 5P
SERVOPACK End
43030-0011 (Loose wires)
7
.
4

D
i
a
.
5
t ' l r
r 1 ~ T
(18.85)
(
8
.
2
8
)
~
1
T
'
t
l
r
15
Shield
5
368
SGDV-
E21
DC
M
E
C
H
A
T
R
O
L
I
N
K
-
I
I
I

T
y
p
e

S
E
R
V
O
P
A
C
K
s
Selecting Cables
(Model: J ZSP-CF1S06-A3-E)
Cable: CMX 2464-1061/2A-SB
AWG24 4P
Socket: DF11-6DS-2C
Contact: DF11-2428SCF

6
.
9

D
i
a
.
14
3
3
.
3
Shell: 10320-52AO-008
300
+30
- 0
(Model: J USP-PC001-E)
Nameplate
66.5 28
6
6
.
5
Note: The cable (J ZSP-CF1S06-A3-E) to
connect the SERVOPACK
is not included.
369
IMPORTANT Use a MECHATROLINK-III communications cable specified by Yaskawa. When using other cables, noise resistance
(6) Cables with Connectors at Both Ends
for CN6
J EPMC-W6012-A2-E 0.2 m
J EPMC-W6012-A5-E 0.5 m
J EPMC-W6012-01-E 1 m
J EPMC-W6012-02-E 2 m
J EPMC-W6012-03-E 3 m
J EPMC-W6012-04-E 4 m
J EPMC-W6012-05-E 5 m
J EPMC-W6012-10-E 10 m
J EPMC-W6012-20-E 20 m
J EPMC-W6012-30-E 30 m
J EPMC-W6012-50-E 50 m
(8) Cable with Loose Wire at One End for CN6
L
L
L
J EPMC-W6013-10-E 10 m
J EPMC-W6013-20-E 20 m
J EPMC-W6013-30-E 30 m
J EPMC-W6013-50-E 50 m
(7) Cables with Connectors at Both Ends
(With Ferrite Core) for CN6
J EPMC-W6014-A5-E 0.5 m
J EPMC-W6014-01-E 1 m
J EPMC-W6014-03-E 3 m
J EPMC-W6014-05-E 5 m
J EPMC-W6014-10-E 10 m
J EPMC-W6014-30-E 30 m
J EPMC-W6014-50-E 50 m
Selecting Cables
3 4
1 2
Socket DF11-4DS-2C*
1000 -0
+20
White
Red
Black
Black
View from Cable End
torque
3, 4
Black
(2 cables)
GND (0V)
Specifications
370
SGDV-
E21
DC
M
E
C
H
A
T
R
O
L
I
N
K
-
I
I
I

T
y
p
e

S
E
R
V
O
P
A
C
K
s
Selecting Cables
2,500
(100)
10 to 20
JZSP-CVS06-02-E
(55)
+100
0
371
DC SERVOPACK External Dimensions
(3) MECHATROLINK-III Communications Reference, Model: SGDV-1R7E21A, -2R9E21A
SERVOPACK
Rear View
2-M4 Screw Holes
30
7
4
1
1
6
1
0
8
0
.
5

(
M
o
u
n
t
i
n
g

P
i
t
c
h
)
(75) 80
1
1
6
1
0
0
14
30
(2) MECHATROLINK-II Communications Reference, Model: SGDV-1R7E11A, -2R9E11A
1
1
6
1
0
0
14
30
(75) 80
SERVOPACK
Rear View
2-M4 Screw Holes
30
7
4
1
1
6
1
0
8
0
.
5

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(75) 80
1
1
6
1
0
0
14
30
SERVOPACK
Rear View
2-M4 Screw Holes
1
1
6
30
7
4
1
0
8
0
.
5

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1Base-Mounted SERVOPACKs
(1) Analog Voltage Reference, Model: SGDV-1R7ES1A, -2R9ES1A
Pulse Train Reference, Model: SGDV-1R7EP1A, -2R9EP1A
372
External Dimensions
DC
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E
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Cover Dimensions and Connectors
CN2 3E106-0220KV 6 Sumitomo 3M Ltd.
CN5 DA3R018HB1 18
J apan Aviation Electronics
Industry, Ltd.
CN7 UX60SC-MB-5S880 5 Hirose Electric Corporation.
CN5 DF11-6DP-2DS52 6 Hirose Electric Corporation.
CN6A/
CN6B
1903815-1 8
Tyco Electronics J apan
G.K.
CN5 DF11-6DP-2DS52 6 Hirose Electric Corporation.
CN6A/
CN6B
1981386-1 8
Tyco Electronics J apan
G.K.
(1) Analog Voltage Reference /Pulse Train Reference
(2) MECHATROLINK-II Communications Reference
(3) MECHATROLINK-III Communications Reference
(4)
80
(36)
(3)
(
3
8
)
(
2
2
0
)
CN2
CN5
CN1
CN7
CN4
CN3
(4)
80
(36)
(3)
(
3
8
)
(
2
2
0
)
CN2
CN5
CN1
CN7
CN4
CN3
CN6A/CN6B
(4)
80
(36)
(3)
(
3
8
)
(
2
2
0
)
CN2
CN5
CN1
CN7
CN4
CN3
CN6A
CN6B
373
Wiring Main Circuit
1Typical Main Circuit Wiring Examples
This section shows an example of the typical wiring for the main circuit.
WARNING
High voltage may still remain in the SERVOPACK after the power has been turned OFF. To avoid electric
shocks, do not touch the power supply terminals. Be sure that the remaining voltage has been discharged before
wiring and inspecting.
2SERVOPACKs with Analog Voltage Reference/Pulse Train Reference
1QF
1FLT
1KM
: Noise flter
1Ry
1PL
1SA
1D
: Relay
: Indicator lamp
: Surge absorber
: Flywheel diode
L1
ENC
SERVOPACK
SGDV-ES1
SGDV-EP1
U
V
W
M
0 V
1Ry
8
11
1D
1KM
Insulated AC/DC
converter for main
circuit power supply
L2
CN1
1QF
R T
+24 V
(For servo alarm
display)
1Ry
1PL
On
1KM
1SA
Main circuit
power supply
Off
Main circuit
power supply
1KM
1Ry
C1
C2
ALM
COM_SG
1FLT
CN4
CN3
Insulated AC/DC
converter for control
power supply
3 Turn ON the power supplies for the control and for the main circuit at the same time, or first turn ON the control
power and then the power for the main circuit power. When turning OFF the power, first turn OFF the power for the
main circuit and then control power.
3 Use separate power supplies for the main circuit AC/DC power supply and control AC/DC power supply. Use power
supplies with double or reinforced insulation and that have also been certified for safety standards.
3 Do not connect the following devices to the control power line: motors, solenoids, or other devices with large load
fluctuations, and contactors or other devices that generate surge voltage. If connected, internal elements may
deteriorate or a fuse may melt.
IMPORTANT
374
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Wiring Main Circuit
2SERVOPACKs with MECHATROLINK-2 or -3 Communications Reference
1QF
1FLT
1KM
: Noise flter
1Ry
1PL
1SA
1D
: Relay
: Indicator lamp
: Surge absorber
: Flywheel diode
L1
ENC
SERVOPACK
SGDV-E11
SGDV-E21
U
V
W
M
0 V
1Ry
4
5
1D
1KM
Insulated AC/DC
converter for main
circuit power supply
L2
CN1
1QF
R T
+24 V
(For servo alarm
display)
1Ry
1PL
On
1KM
1SA
Main circuit
power supply
Off
Main circuit
power supply
1KM
1Ry
C1
C2
ALM
COM_SG
1FLT
CN4
CN3
Insulated AC/DC
converter for control
power supply
1General Precautions for Wiring
3Use a molded-case circuit breaker (1QF) or a fuse to protect the servo system.
Always use a molded-case circuit breaker or a fuse to protect the servo system from accidents involving different
power voltages or other accidents.
3Install a ground fault detector.
The SERVOPACK does not have a built-in protective circuit for grounding. For a safer system, install a ground fault
detector to protect against overloads and short circuits, or install a ground fault detector that is combined with a
molded-case circuit breaker.
3 Do not turn the power OFF and ON more than necessary.
Do not use the SERVOPACK for applications that require the power to be frequently turned OFF and ON. Such
applications will cause elements in the SERVOPACK to deteriorate.
As a guideline, wait at least one hour before restarting the power after turning OFF the power during operation.
To ensure safe, stable application of the servo system, observe the following precautions when wiring.
Observe the following precautions when wiring the main circuit.
Use shielded twisted-pair wires or shielded, multi-core, twisted-pair wires for I/O signal cables and the encoder cables.
The maximum wiring length is 3 m for I/O signal cables, 50 m for encoder cables or servomotor main circuit cables, and 10 m
for control power and main circuit power cables.
Observe the following precautions when grounding.
Use a cable that is as thick as possible.
Ground the SERVOPACK to a resistance of 100 or less.
Be sure to ground at only one point.
Ground the servomotor directly if the servomotor is insulated from the machine.
The signal cable conductors are as thin as 0.2 mm2 or 0.3 mm2. Do not impose excessive bending force or tension.
IMPORTANT
375
Wiring Main Circuit
1Precautions When Using More Than One SERVOPACK
This section shows an example of wiring and precautions when more than one SERVOPACK is used.
2Wiring Example
Wire the circuit so that each alarm detection relay (1 Ry, 2 Ry, 3 Ry) can be separately activated to issue an alarm.
After a SERVOPACK alarm is activated, the ALM output signal transistor is turned OFF.
2Precautions
1. Multiple SERVOPACKs can share a single molded-case circuit breaker (1QF) and a single noise filter. Always
select a molded-case circuit breaker and a noise filter that have a large enough capacity to handle all
SERVOPACKs used. When selecting a breaker and a filter, also consider load conditions.
2. When using SERVOPACKs with DC power, four signals for the sequencing of one SERVOPACK are connected
at only one location (COM_SG) for common signal grounding. If alarm signals for multiple SERVOPACKs are
connected in series, an alarm signal may not be received correctly when an alarm is issued.
R T
1QF
1FLT
1KM
Insulated AC/DC converter
for main circuit power supply
Insulated AC/DC converter
for control power supply
(For servo alarm display)
1QF
1FLT
1KM
1Ry
2Ry
3Ry
: Noise flter
: Relay
: Relay
: Relay
1PL
1SA
1D
2D
3D
: Indicator lamp
: Surge absorber
: Flywheel diode
: Flywheel diode
: Flywheel diode
1PL
1Ry
2Ry
3Ry
Main circuit
power supply
On
Main circuit
power supply
Off
1Ry 2Ry 3Ry
1KM
1KM
1SA
Relay terminal
Relay
terminal
SERVOPACK
CN3
L1
L2
C1
C2
CN1
8
11 COM
_
SG
ALM
1Ry
1D
0 V
+24 V
Servomotor
M
SERVOPACK
CN3
L1
L2
C1
C2
CN1
8
11 COM
_
SG
ALM
2Ry
2D
0 V
+24 V
Servomotor
M
SERVOPACK
CN3
L1
L2
C1
C2
CN1
8
11 COM
_
SG
ALM
3Ry
3D
0 V
+24 V
Servomotor
M
Relay
terminal
Relay
terminal
376
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1For 48 VDC and 24 VDC
If assembling a main circuit cable for the SERVOPACK, observe the following conditions.
Cables Terminal Symbol
Remarks
1R7E 2R9E
Power Supply Cable L1, L2, C1, C2, JZSP-CF1G00--E
F or detai l s, refer to Sel ecti ng Cabl es for
SERVOPACKs with DC Power Input on page13.
Servomotor Main Circuit
Cable
U, V, W,
JZSP-CF1M00--E (For motors without brakes)
JZSP-CF1M10--E (For motors with brakes)
JZSP-CF1M20--E (Flexible type cable for motors
without brakes)
JZSP-CF1M30--E (Flexible type cable for motors
with brakes)
For details, refer to Selecting Cables on page
415, page 425, and page 435.
Cables
Remarks
1R7E 2R9E
CN3
For Main Circuit
Power
Connector 43025-0600 (by Molex Japan Co., Ltd.) 6 poles
Contact 43030-0001 (by Molex Japan Co., Ltd.) -
Wire for Main Circuit Power
(L1, L2, )
UL1007, AWG20
Rated voltage: 300 V; rated
temperature: 80C
Wire for Control Power
(C1, C2, )
UL1007, AWG20-24
temperature: 80C
CN4
For Motor Main
Circuit
Connector
(SERVOPACK End)
43025-0400 (by Molex Japan Co., Ltd.) 4 poles
Contact
(SERVOPACK End)
43030-0001 (by Molex Japan Co., Ltd.) -
Connector
(for a servomotor without brake)
Connector
(for a servomotor with brake)
Contact
(Servomotor End)
43031-0001 (by Molex Japan Co., Ltd.) -
Wire for Servomotor Main Circuit
(U, V, W, brake power, )
UL1007, AWG20
temperature: 80C
3 The specified wire sizes are for use when the three lead cables are bundled and when the rated electric current is
applied with a surrounding air temperature of 40C
3Use a wire with a minimum withstand voltage of 100 V.
3 Use insulated wire with an outer diameter of 1.85 mm or smaller. The wire size is restricted due to the specifications
of the contact used.
3 If cables are bundled in PVC pipes or metal ducts, remember to consider resulting reduction of the allowable
current.
3 Use heat-resistant wire for high surrounding air or panel temperatures.
3 Use a cable with a maximum length of 10 m for the main circuits power and one with a maximum length of 50 m
for the motors main circuit.
IMPORTANT
377
1 AC/DC Power Supply
Use an AC/DC power supply that is appropriate for the voltage of the main circuit and the model of the SERVOPACK and
servomotor. The recommended AC/DC power supplies are shown in the following table.
*: Use double-insulated power supplies certified for the following international safety standards: UL60950 or EN60950.
Main Circuit Power
Supply
SERVOPACK Model Servomotor Model
Recommended AC/DC Power Supply*
Model Manufacturer
24 VDC
SGDV-1R7E1A
SGMMV-B3E2A
HWS150-24
TDK-Lambda Corp.
SGMMV-B5E2A
SGMMV-B9E2A
SGDV-2R9E1A
SGMMV-A1E2A
HWS300-24 SGMMV-A2E2A
SGMMV-A3E2A
48 VDC
SGDV-1R7E1A
SGMMV-B3E2A
HWS300-48
SGMMV-B5E2A
SGMMV-B9E2A
SGDV-2R9E1A
SGMMV-A1E2A
SGMMV-A2E2A
HWS300P-48
SGMMV-A3E2A
Molded-case Circuit Breaker and Fuse Capacity
1Input Power Capacity
1Molded-case Circuit Breaker and Fuse Capacity
Main Circuit
Power Supply
Applicable
Servomotor Max.
Capacity
W
SERVOPACK
Model
SGDV-
Main Circuit
Power Supply
Capacity per
SERVOPACK
W
Input Current Capacity
Main Circuit
Continuous
Rated Current
A
Main Circuit
Instantaneous
Maximum Current
A
Control Circuit
A
24 VDC
11 1R7E 108 2.0 5.5
0.3
30 2R9E 165 3.5 8.5
48 VDC
11 1R7E 169 1.0 4.5
30 2R9E 411 2.0 10.5
Power Supply Output Voltage
SERVOPACK
Model
SGDV-
Current Capacity of MCCB or Fuse
(Main +Control Circuit)
Power Supply
Voltage
at 100 VAC
Arms
Power Supply
Voltage
at 200 VAC
Arms
Main Circuit
Power Supply
24 VDC
1R7E
2R9E
5.5 2.9
48 VDC 9.0 4.8
Control Circuit
Power Supply
24 VDC
Note: The power supply capacities indicated in the table are values at an instantaneous maximum load. The main circuits power supply capacity and the input
current capacity are indicated in net values.
Note: Select an MCCB or a fuse that satisfies the following braking characteristics.
No braking at the inrush current value of the used power supply for 20 ms.
378
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Noise Filters
1Noise Filter Selection
Use of the following noise filter is recommended for the AC side.
Note: RoHS-compliant models are not available. Contact the manufactures when in need of an RoHS-compliant model.
Power Supply AC
Side Voltage
SERVOPACK Model
SGDV-
Recommended Noise Filter
Model Specifications Leakage Current
100 VAC/
200 VAC
1R7E, 2R9E FN2070-6/07 Single-phase 250V 6A
0.734 mA
230 VAC/50 Hz
FN Type (by Schaffner EMC, Inc.)
Model FN2070-6/07
Dimensional
Drawings
Side View Top View
4
.
4
0
.
1 5
7
.
5
1
60.1
113.51
941
1030.3
32.40.5
0.90.1
2
5
0
.
2
8.40.5
45.41.2
3
8
0
.
5
Connection Lead P/N/E
1
4
0
0
+
5
Some noise filters have large amounts of leakage current. The grounding measures taken also affect the extent of
the leakage current. If necessary, select an appropriate leakage current detector or leakage current breaker taking
into account the grounding measures that are used and leakage current from the noise filter. Contact the manufacturer
of the noise filter for details.
IMPORTANT
379
Magnetic Contactors
1Magnetic Contactor Selection
A magnetic contactor is required when external sequence circuit is used to turn the power of a SERVOPACK OFF and ON.
The magnetic contactor shown in the following table is recommended on the AC side of the main circuits power supply.
Be sure to attach a surge absorber (surge absorber unit etc.) to the excitation coil of the magnetic contactor.
Note: Contact Fuji Electric FA Components & Systems Co., Ltd.
Power Supply AC
Side Voltage
SERVOPACK Model
SGDV-
Magnetic Contactor
100 VAC/
200 VAC
1R7E, 2R9E SC-03 (RoHS)
1/L1 3/L2 5/L3 13
1/L1 3/L2 5/L3 21
A1 A2
2/T1 4/T2 6/T3 14
2/T1 4/T2 6/T3 22
A1 A2
1a
1b
Aux. Terminal
M3.5
1
4
.
5
(
2
0
.
5
)
1
8
.
5
5
2
35
6
0
30
34
Coil Terminal
M3.5 Main Terminal
M3.5
2
3
8
1
4
3
43
10 7.7
(28)
80
61
8.5
90 (Mounting Rail Height: 15)
For front mounting,
aux. contact blocks
are attached.
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SC-03
3Mounting methods: The following methods 1, 2, 3 are available.
134 48 to 52
230 48
335 60
3Mounting screw: 2-M4
380
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Selecting Servomotor Capacity and Regenerative Capacity
AC Servo Drives
Others
C O N T E N T S
450
Connection to Host Controller 466
International Standards 471
Warranty 472
Servomotor Capacity Selection Examples
Selecting Regenerative Resistors
Example of Connection to Machine Controller MP2
Example of Connection to SVA-01 Motion Module for MP2200/MP2300
Example of Connection to OMRONs Motion Control Unit
Example of Connection to OMRONs Position Control Unit
Example of Connection to Mitsubishis QD75D Positioning Unit (SERVOPACK in Position Control)
380
381
Selecting Servomotor Capacity and
Regenerative Capacity
(1) Speed Diagram
(2) Rotation Speed
(3) Load torque
(4) Load Moment of Inertia
1Selection Example for Speed Control
Use the AC servo drive capacity selection program SigmaJ unmaSize+to select servomotor capacity.
Load speed:
L = 15 m/min
Gear + coupling moment of inertia
Linear motion section mass: m = 250 kg : JG = 0.4010
-4
kgm
2
Ball screw length: B = 1.0 m Feeding times: n = 40 times/min
Ball screw diameter: dB = 0.02 m Feeding distance: = 0.275 m
Ball screw lead: PB = 0.01 m Feeding time: tm = 1.2 s max.
Ball screw material density: =7.87103 kg/m
3
Friction coefficient: = 0.2
Gear ratio: 1/2 (R = 2) Mechanical efficiency: = 0.9 (90%)
Load axis rotation speed nL = = = 1500
(
min
-1
)
PB
15
0.01
L
Motor shaft rotation speed Gear ratio 1/R = 1/2 (R=2)

Therefore, nM = nLR = 1500 2 = 3000 (min
-1
)
tc ta td
(m/min)
Speed
Time (s)
t
L
15
tm
Servomotor
Coupling
Ball screw
Gear
Linear motion
L
t = = = 1.5
(
s
)
where ta = td
ta = tm = 1.2 = 1.2 1.1 = 0.1
(
s
)
tc = 1.2 0.1 2 = 1.0
(
s
)
60
n
60
40
60 0.275
15 L
Linear motion section JL1 = m = 250 = 1.58 10

-4
(
kgm
2
)
2
2R
PB
2
2
2
0.01
Ball screw
JB = BdB
4
= 7.87 10
3
1.0
(0.02)
4
= 0.31 10
-4
(
kgm
2
)
R
2
1
32
2
2
1
32
Coupling JG = 0.40 10
-4
(kgm
2
)
Load moment of
inertia at motor shaft
JL = JL1 + JB + JG = (1.58 + 0.31 + 0.40) 10
-4
= 2.29 10
-4
(kgm
2
)
(5) Load Moving Power
PO = = = 135(
W
)
60
2nMTL
60
2 3000 0.43
TL = = = 0.43
(
Nm
)
2R
9.8 mPB
2
2 0.9
9.8 0.2 250 0.01
382
Others
(6) Load Acceleration Power
Pa = = = 226
(
W
) nM
2
60
2
ta
JL
3000
2
60
2
0.1
2.29 10
-4
(7) Servomotor Provisional Selection
(a) Selecting Conditions
TL Motor rated torque
< <
2
(Po + Pa)
(Po + Pa)
Provisionally selected
servomotor rated output
nM Motor rated speed
JL Allowable load moment of inertia
(b) Specifications of the Provisionally Selected Servomotor
Rated output : 200 (W)
Rated motor speed : 3000 (min
-1
)
Rated torque : 0.637 (Nm)
Instantaneous peak torque : 2.23 (Nm)
Servomotor moment of inertia : 0.259 10
-4
(kgm
2
)
Allowable load moment of inertia : 0.259 10
-4
15 = 3.885 10-4 (kgm
2
)
(8) Verification on the Provisionally Selected Servomotor
Required acceleration torque: TP = + TL = + 0.43
60ta
2nM(JM + JL)
60 0.1
2 3000 (0.259 + 2.29) 10
-4
1.23 (Nm) < Instantaneous peak torque Satisfactory
Required deceleration torque: TS = TL = 0.43
60td
2nM(JM + JL)
60 0.1
2 3000 (0.259 + 2.29) 10
-4
Torque effective value: Trms = =
t
TP
2
ta + TL
2
tc + Ts
2
td
1.5
(1.23)
2
0.1 + (0.43)
2
1.0 + (0.37)
2
0.1
0.483 (Nm) < Rated torque Satisfactory
(9) Result
The provisionally selected servomotor is confirmed to be applicable.
The torque diagram is shown below.
Nm
0.1
1.5
1.0 0.1
-0.37
0
0.43
1.23
Torque
Speed
The followings satisfy the conditions.
Servomotor SGMJ V-02A
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383
1Selection Example for Position Control
Ball screw
Servomotor Linear motion
Coupling
L
(1) Speed Diagram
Load speed
Reference pulse
(m/min)
Speed
Time(s)
15
tc ta td ts
t
L
tm
t = = = 1.5(
s
)
Where ta = td, ts = 0.1(
s
)
ta = tm ts = 1.2 0.1 = 0.1(
s
)
tc = 1.2 0.1 2 = 1.0(
s
)
60
n
60
40
60 0.25
15 L
(2) Rotation Speed

Load axis rotation speed nL = = = 3000(
min
-1
)
PB
15
0.005
L
Motor shaft rotation speed with direct coupling: Gear ratio 1/R =1/1
Therefore,
nM = nLR = 3000 1 = 3000 (min
-1
)
(3) Load Torque
TL = = = 0.139(
Nm
)
2R
9.8 mPB
2 1 0.9
9.8 0.2 80 0.005
(4) Load Moment of Inertia

Liner motion section JL1 = m = 80 = 0.507 10
-4
(
kgm
2
)
2
2R
PB
2
2 1
0.005
Ball screw JB = BdB
4
= 7.87 10
3
0.8 (0.0016)
4
= 0.405 10
-4
(
kgm
2
)
32
32
Coupling Jc = mcdc
4
= 0.3 (0.03)
2
= 0.338 10
-4
(
kgm
2
)
8
1
8
1
Load moment of inertia at the motor shaft
JL = JL1 + JB + Jc = 1.25 10
-4
(kg m
2
)
Use the AC servo drive capacity selection program SigmaJ unmaSize+to select servomotor capacity.
Load speed:
L = 15 m/min
Coupling outer diameter: dc = 0.03 m
Linear motion section mass: m = 80 kg Positioning times: n = 40 times/min
Ball screw length: B = 0.8 m Positioning distance: = 0.25 m
Ball screw diameter: dB = 0.016 m Positioning time: tm = 1.2 s max.
Ball screw lead: PB = 0.005 m Electrical stop accuracy: = 0.01 mm
Ball screw material density: =7.87103 kg/m
3
Friction coefficient: = 0.2
Coupling mass: mc = 0.3 kg Mechanical efficiency: = 0.9 (90%)
384
Others
(5) Load Moving Power
PO = = = 43.7(
W
)
60
2nMTL
60
2 3000 0.139
(6) Load Acceleration Power
Pa = = = 123.4(
W
) nM
2
60
2
ta
JL
3000
2
60
2
0.1
1.25 10
-4
(7) Provisionally Servomotor Selection
(a) Selecting Conditions
(b) Specifications of Servomotor
Rated output : 100 (W)
Rated motor speed : 3000 (min
-1
)
Rated torque : 0.318 (Nm)
Instantaneous peak torque : 1.11 (Nm)
Servomotor rotor moment of inertia : 0.0665 10
-4
(kgm
2
)
Allowable load moment of inertia : 0.0665 10
-4
20 = 1.33 10
-4
(kgm
2
)
Encoder resolution : 20 bit (1048576P/rev)
(8) Verification on Provisionally Selected Servomotor
Required acceleration torque:
TP = + TL = + 0.139
60ta
2nM(JM + JL)
60 0.1
2 3000 (0.0665 + 1.25) 10
-4
Required deceleration torque:
TS = TL = 0.139
60td
2nM(JM + JL)
60 0.1
2 3000 (0.0665 + 1.25) 10
-4
Torque effective value: Trms = =
t
TP
2
ta + TL
2
tc + Ts
2
td (0.552)
2
0.1 + (0.139)
2
0.9 + (0.275)
2
0.1
1.5
0.192 (Nm) < Rated torque Satisfactory
The above confirms that the provisionally selected servomotor is sufficient. In the next step, their performance in position
control are checked.
The followings satisfy the conditions.
Servomotor SGMJ V-01A
TL Motor rated torque
< <
2
(Po + Pa)
(Po + Pa)
Provisionally selected
servomotor rated output
nM Motor rated speed
JL Allowable load moment of inertia
S
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c
t
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g

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385
(9) PG Feedback Pulse Dividing Ratio: Setting of Electronic Gear Ratio
As the electrical stop accuracy = 0.01mm, take the position detection unit = 0.01mm/pulse.
= = 1048576
PB
A
B
A
B
0.01
5
k = =
A
B
500
1048576
(10) Reference Pulse Frequency
(11) Error Counter Pulses
(12) Electrical Stop Accuracy
The above results confirm that the selected servomotor is applicable for the position control.
Position loop gain KP = 40 (1/s)
= = = 625(
pulse
)
KP
vs
40
25,000
vs = = = 25,000(
pps
)
1000 L
60 0.01
1000 15
= = 0.125 < 1(
pulse
)
= 0.01(
mm
)
(
SERVOPACK control range
)
nR
nM
5000
625
3000
3000
A
B
Others
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386
(1) Simple Calculation
When driving a servomotor with the horizontal axis, check the external regenerative resistor requirements using the
calculation method shown below.
(a) SGDV-F, -R70A, -R90A, -1R6A, and -2R8A SERVOPACKs
These SERVOPACKs do not have built-in regenerative resistors. The energy that can be charged with capacitors is
shown in the following table. If the rotational energy in the servomotor exceeds these values, then connect an external
regenerative resistor.
Calculate the rotational energy (Es) in the servomotor from the following equation:
Es = J (nM)
2
/182 (joules)
J = JM + JL
JM : Servomotor rotor moment of inertia (kgm
2
)
JL : Load converted to shaft moment of inertia (kgm
2
)
nM: Rotation speed used by servomotor (min
-1
)
(b) SERVOPACKs other than (a)
SERVOPACKs other than SGDV-F, -R70A, -R90A, -1R6A, and -2R8A have built-in regenerative resistors. The
allowable frequencies for just the servomotor in acceleration and deceleration operation, during the rotation speed cycle
from 0 (min
-1
) to the maximum rotation speed to 0, are summarized in the following table.
Convert the data into the values obtained with actual rotation speed and load moment of inertia to determine whether
an external regenerative resistor is needed.
Voltage Applicable SERVOPACK
Regenerative Energy that Can
be Processed (joules)
Remarks
Single-phase
100 V
SGDV-R70F, R90F, 2R1F 26.4
Value when main circuit input voltage is 100 VAC
SGDV-2R8F 44.1
Three-phase
200V
SGDV-R70A, -R90A, -1R6A 24.2
Value when main circuit input voltage is 200 VAC
SGDV-2R8A 31.7
*: This value is "4," when used in combination with SGDV-200A SERVOPACK.
Voltage Servomotor Model
Allowable Frequencies in Regenerative Mode (time/min)
03 05 06 08 09 10 13 15 20 25 30 40 44 50
Three-phase
200 V
SGMJ V- 15
SGMAV- 74 31 20
SGMPS- 11 7
SGMGV-A 39 29 6 6 7 9* 6
SGMSV-A 13 21 28 21 10 16 12
Three-phase
400V
SGMGV-D 68 51 10 8 13 7 6
SGMSV-D 24 30 49 38 17 16 12
Operating Conditions for Allowable Regenerative Frequency Calculation
387
Speed reference
Servomotor rotation speed
0
0
0
(Operation cycle)
Allowable frequency = 1/T (times/min)
Servomotor-generated torque
Load moment of inertia = 0 (servomotor only)
Regeneration
mode
Regeneration
mode
T
t
t
Maximum rotation speed
Maximum torque
Maximum torque
Use the following equation to calculate the allowable frequency for regeneration mode operation
Allowable frequency for Seromotor only Max. rotation speed
Allowable frequency =
2
(time/min)
(1+n) Rotation speed
n = JL / JM
JM : Servomotor rotor moment of inertia (kgm
2
)
JL : Load converted to shaft moment of inertia (kgm
2
)
(c) SGDV-470A, -550A, -590A, -780A SERVOPACKs
These SERVOPACKs do not have built-in regenerative resistors. The following table shows the allowable regenerative
frequencies when the J USP-RA04-E or J USP-RA05-E regenerative resistor is used together with an applicable
SERVOPACK.
The servomotor driving conditions and the conversion equation for the allowable regenerative frequencies to the rotation
speed and load moment of inertia are the same as that shown in (b) on the previous page.
Voltage Servomotor Model
Allowable Frequencies in Regenerative Mode (time/min)
55 70 75 1A 1E
Three-phase 200 V
SGMGV-A 24 34 39 31
SGMSV-A 124
Others
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t
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g

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t
o
r

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y

a
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a
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388
(2) Calculating the Regenerative Energy
This section shows the procedure for calculating the regenerative resistor capacity when acceleration and deceleration
operation is as shown in the following diagram
nM: Motor rotation speed
TL: Load torque
T
0
0
tD
Regenerative torque
Motor torque
Rotation speed
3 Calculation Procedure
The procedure for calculating the regenerative capacity is as follows:
Step Item Symbol Equation
1 Calculate the rotational energy of the servomotor. ES ES =JnM
2
/182
2
Calculate the energy consumed by load loss during the
deceleration period
EL EL =(/ 60)nMTLtD
3
Calculate the energy lost from servomotor winding
resistance.
EM
(Value calculated from (4) Servomotor Winding Resistance
Loss diagrams) tD
4 Calculate the SERVOPACK energy that can be absorbed. EC
Calculate from (3) SERVOPACKs Absorbable Energy
diagrams.
5 Calculate the energy consumed by the regenerative resistor. EK EK =ES - (EL+EM+EC)
6 Calculate the required regenerative resistor capacity (W). WK WK =EK/(0.2T)
Note: 1 The 0.2in the equation for calculating Wk is the value for when the regenerative resistors utilized load ratio is 20%.
2 The units for the various symbols are as follows:
ES to EK: Energy joules (J ) TL: Load torque (Nm)
WK : Regenerative resistor required capacity (W) tD: Deceleration stopping time (s)
J: (=JM+JL)(kgm
2
) T: Servomotor repeat operation period (s)
nM : Servomotor rotation speed (min
-1
)
If the above calculation determines that the amount of regenerative power (Wk) processed by the built-in resistor is not
exceeded, then an external regenerative resistor is not required. Refer to Specifications of Built-in Regenerative
Resistor for regenerative resistors built into SERVOPACKs. If the amount of regenerative power that can be processed
by the built-in resistor is exceeded, then install an external regenerative resistor for the capacity obtained from the
above calculation.
If the energy consumed by load loss (in step 2 above) is unknown, then perform the calculation using
El =0.
When the operation period in regeneration mode is continuous, add the following items to the above calculation
procedure in order to find the required capacity (W) for the regenerative resistor.
Energy for continuous regeneration mode operation period: EG (joules)
Energy consumed by regenerative resistor: EK =ES - (EL +EM+EC)+EG
Required capacity of regenerative resistor: WK =EK/(0.2T)
Here, EG=(2/ 60) nMGTGtG
TG : Servomotors generated torque in continuous regeneration mode operation period (Nm)
nMG : Servomotor rotation speed for same operation period as above (min
-1
)
tG : Same operation period as above(s)
389
(3) SERVOPACKs Absorbable Energy
The following diagrams show the relationship between the SERVOPACKs input power supply voltage and its absorbable
energy.
0
85 90 100 95 105
Input Voltage (Vrms)
SERVOPACK for 100 V Model: SGDV-
A
b
s
o
r
b
a
b
l
e

E
n
e
r
g
y

(
J
)
110 115 120
10
20
30
40
50
60
R70F, R90F, 2R1F
2R8F
0
20
40
60
80
100
120
140
160
320 340 360 380 400 420 440 460 480 500 520 540
1R9D
3R5D, 5R4D
8R4D, 120D
170D
A
b
s
o
r
b
a
b
l
e

E
n
e
r
g
y

(
J
)
0
170 180 200 190 210
220 230 240 250 260
10
20
30
40
50
60
70
R70A, R90A, 1R6A
2R8A
3R8A
5R5A, 7R6A
A
b
s
o
r
b
a
b
l
e

E
n
e
r
g
y

(
J
)
0
170 180 200 190 210
220 230 240 250 260
20
40
60
80
100
120
140
160
120A
180A, 200A
330A
A
b
s
o
r
b
a
b
l
e

E
n
e
r
g
y

(
J
)
0
170 180 200 190 210
220 230 240 250 260
100
200
300
400
500
600
470A
550A
590A
780A
A
b
s
o
r
b
a
b
l
e

E
n
e
r
g
y

(
J
)
0
100
200
300
400
500
600
700
320 340 360 380 400 420 440 460 480 500 520 540
210D
260D
280D
370D
A
b
s
o
r
b
a
b
l
e

E
n
e
r
g
y

(
J
)
Others
S
e
l
e
c
t
i
n
g

S
e
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v
o
m
o
t
o
r

C
a
p
a
c
i
t
y

a
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d

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a
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i
t
y

390
(4) Servomotor Winding Resistance Loss
The following diagrams show the relationship, for each servomotor, between the servomotors generated torque and the
winding resistance loss.
(a) SGMJ V Rotary Servomotors
(b) SGMAV Rotary Servomotors
Torque (%)
Model: SGMJ V-
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s

(

W

)
0
50
100
150
200
250
300
350
400
450
500
350 300 200 100 0
A5A
02A
01A
04A
08A
A5A
02A
01A
04A
08A
Torque (%)
Model: SGMAV-
Model: SGMAV-
Torque (%)
300 200 100 0
0
50
100
150
200
250
300
350
0
50
100
150
200
250
300
350
400
450
300 200 100 0
A5A
02A
01A
C2A
A5A
02A
04A
06A
08A
04A
06A
01A
C2A
08A
10A
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s

(

W

)
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s

(

W

)
(c) SGMPS Rotary Servomotors
0
0 100 200 300
50
100
150
200
250
300
350
400
450
Model: SGMPS-
08A
01A
02A
15A
04A
Torque (%)
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s

(

W

)
Torque (%)
Model: SGMAV-
Model: SGMAV-
Torque (%)
300 200 100 0
0
50
100
150
200
250
300
350
0
50
100
150
200
250
300
350
400
450
300 200 100 0
A5A
02A
01A
C2A
A5A
02A
04A
06A
08A
04A
06A
01A
C2A
08A
10A
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s

(

W

)
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s

(

W

)
391
(d) SGMGV Rotary Servomotors
0
0
100
200
300
400
500
600
100
Torque (%)
200 300 400
Model: SGMGV-
05
03
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s

(

W

)
0 50 100 150 200 250 300
0
100
200
300
400
500
600
700
800
Torque (%)
Model: SGMGV-
20
13
09
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s

(

W

)
0 50 100 150 200 250 300
0
400
600
800
1000
200
1200
Torque (%)
Model: SGMGV-
4455
75
30
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s

(

W

)
0 50 100 150 200 250 300
0
200
400
600
800
1000
1200
1400
Torque (%)
Model: SGMGV-
1EA
1AA
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s

(

W

)
0
0
200
400
600
800
1000
1200
1400
100
Torque (%)
200 300 400
Model: SGMSV-
25
20
15
10 W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s

(

W

)
0
0
200
400
600
800
1000
1200
1400
1600
100
Torque (%)
200 300 400
Model: SGMSV-
50
3040
70A
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s

(

W

)
(e) SGMSV Rotary Servomotors
Others
S
e
l
e
c
t
i
n
g

S
e
r
v
o
m
o
t
o
r

C
a
p
a
c
i
t
y

a
n
d

R
e
g
e
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e
r
a
t
i
v
e

C
a
p
a
c
i
t
y

392
(f) SGMCS Direct Drive Servomotors
Torque (%)
0
0 100 200 300
100
300
200
400
500
600
700
Model: SGMCS-
10C
14C
04C
07B
05B
02B
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s

(

W

)
Torque (%)
0
0 100 200 300
200
600
400
800
1000
Model: SGMCS-
35E
16E
25D
17D
08D
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s

(

W

)
(g) SGLGW Linear Servomotors
080C
050C
0 100 200 300 400
Torque (%)
0
50
100
150
200
250
Model: SGLGW-30A
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s

(

W

)
0
0
500
1000
1500
2000
2500
3000
100 200 300 400 500
Model: SGLGW-60A
365C-M
253C-M
140C-M
Torque (%)
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s

(

W

)
0 100 200 300 400
0
200
400
600
800
1000
1200
Torque (%)
Model: SGLGW-40A
365C
253C
140C
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s

(

W

)
0 100 200 300 400 500
Torque (%)
0
500
1000
1500
2000
2500
Model: SGLGW-40A
365C-M
253C-M
140C-M
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s

(

W

)
0 100 200 300 400
0
200
400
600
800
1000
1200
1400
Torque (%)
Model: SGLGW-60A
365C
253C
140C
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s

(

W

)
0
0
1000
2000
3000
4000
5000
6000
100 200 300 400 500
Model: SGLGW-90A
535C
370C
200C
Torque (%)
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s

(

W

)
393
0
0
100 200 300 400 500
50
100
150
200
250
300
Model: SGLFW-20A
120A
090A
Torque (%)
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s

(

W

)
(h) SGLFW Linear Servomotors
0
0
100 200 300 400
100
200
300
400
500
600
700
800
Model: SGLFW-35A
230A
120A
Torque (%)
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s

(

W

)
0
0
200
400
600
800
1000
1200
100 200 300
Model: SGLFW-50A
200B
380B
Torque (%)
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s
W
0
0
100 200 300
200
400
600
800
1000
1200
1400
1600
1800
Model: SGLFW-1ZA
380B
200B
Torque (%)
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s
W
230A
120A
0
0
100 200 300 400
100
200
300
400
500
600
700
800
Model: SGLFW-35D
Torque (%)
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s
W
380B
200B
0
0
100 200 300
200
400
600
800
1000
1200
Model: SGLFW-50D
Torque (%)
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s
W
380B
200B
0
0
100 200 300
600
400
200
800
1000
1200
1400
1600
1800
2000
Model: SGLFW-1ZD
Torque (%)
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s
W
Others
S
e
l
e
c
t
i
n
g

S
e
r
v
o
m
o
t
o
r

C
a
p
a
c
i
t
y

a
n
d

R
e
g
e
n
e
r
a
t
i
v
e

C
a
p
a
c
i
t
y

394
(i) SGLTW Linear Servomotors
0 100 200 300 400
0
500
1000
1500
2000
2500
Torque (%)
Model: SGLTW-20A
170A
460A
320A
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s
W
0 100 200 300 400

0
1000
500
1500
2000
2500
3000
3500
Torque (%)
Model: SGLTW-35A
170A
460A
320A
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s
W
0 50 100 150 200 250

0
400
300
200
100
500
600
700
800
900
Torque (%)
Model: SGLTW-35A
170H
320H
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s
W
0 50 100 150 200 250

0
200
400
600
800
1000
1200
Torque (%)
Model: SGLTW-50A
170H
320H
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s
W
0 200 400 600

Torque (%)
Model: SGLTW-40A
400B
600B
0
1000
2000
3000
4000
5000
7000
6000
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s
W
0 200 400 600

Torque (%)
Model: SGLTW-80A
400B
0
1000
2000
3000
4000
5000
7000
8000
9000
10000
6000
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s
W
395
(j) SGLCW Cylinder Type Linear Servomotors
Model: SGLCW-D16A
0
50
0
100
150
200
250
300
350
400
100 200 300 400 500
Torque (%)
145AP
115AP
085AP
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s
Model: SGLCW-D20A
0
200
400
600
800
1000
1200
0 200 400 600
Torque (%)
170AP
135AP
100AP
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s
Model: SGLCW-D25A
0 100 200 300 400 500
Torque (%)
0
400
200
600
800
1000
1200
1400
1600
215AP
170AP
125AP
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s
Model: SGLCW-D32A
0 100 200 300 400 500
Torque (%)
0
400
200
600
800
1000
1200
1400
1600
285AP
225AP
165AP
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s
(i) SGLTW Linear Servomotors (contd)

Model: SGLTW-35D
0
100
0
200
300
400
500
600
700
800
900
1000
100 200 300
Torque (%)
320H
170H
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s
W
Model: SGLTW-50D
0
0
200
400
600
800
1000
1200
50 100 150 200 250
Torque (%)
320H
170H
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s
W
Model: SGLTW-40D
0 200 400 600
Torque (%)
0
1000
2000
3000
4000
5000
6000
7000
8000
600B
400B
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s
W
Model: SGLTW-80D
0 200 400 600
Torque (%)
0
2000
4000
6000
8000
10000
12000
400B
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s
W
Others
S
e
l
e
c
t
i
n
g

S
e
r
v
o
m
o
t
o
r

C
a
p
a
c
i
t
y

a
n
d

R
e
g
e
n
e
r
a
t
i
v
e

C
a
p
a
c
i
t
y

396
(k) SGT Linear Sliders
F4
F3
0
100
0
200
300
400
500
600
700
800
100 200 300 400
Torque (%)
Model: SGT
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s
0
0
200
400
600
800
1000
1200
100 200 300 400
Torque (%)
Model: SGT
GF
GE
GD
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s
Model: SGT
0
0
200
400
600
800
1000
1200
100 200 300
Torque (%)
F9A
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s
0
0
200
400
600
800
1000
1200
1400
100 200 300 400
Torque (%)
Model: SGT
GI
GH
GG
W
i
n
d
i
n
g

R
e
s
i
s
t
a
n
c
e

L
o
s
s
397
Notes: 1 Only signals applicable to Machine Controller MP2 and Yaskawas SGDV SERVOPACK are shown in the diagram.
2 The main circuit power supply is a three-phase 200 VAC SERVOPACK input in the example.
3 Note that incorrect connection will cause damage to the Machine Controller and SERVOPACK. Take particular care to wire correctly.
4 Open the signal lines not to be used.
5 The above connection diagram shows only X-axis connection. When using another axes, make connection to the SERVOPACK in the same
way.
6 The normally closed (N.C.) input terminals not to be used at the Machine Controller I/O connector section must be short-circuited at the
connector.
7 Make the setting so that the servo can be turned ON/OFF by the /S-ON signal.
8 The SERVOPACK has a built-in safety function to protect prevent anyone in the vicinity from being injured by unexpected motion. But, in order
to use the function, the circuit for CN8 is required to be configured. When not using the function, use SERVOPACKs with the Safety J umper
Connector connected.
Example of Connection to Machine Controller MP2
Connection to Host Controller
CN2
Connector shell
+
-
Machine controller
MP2
Other SERVOPACK
or terminator
+24V
I/O Power supply
3
4
7
8
6 +24V-IN
P-OT
N-OT
ALM
ALM+ 1Ry *
A
B
C
D
Servomotor
Control power supply
Main circuit power supply
CN6A/B
CN6A/B
L1C
L3
L2
L1
L2C
W
V
U
SGDV-11/15 SERVOPACK
(MECHATROLINK-II communications
reference type)
M
ENC
M - I / II
024 V
+24V
*: The ALM signal is output for five seconds or less when the power is turned ON. Take this into consideration when designing
the power ON sequence. The ALM signal actuates the alarm detection relay 1Ry to stop the main circuit power supply to
the SERVOPACK.
398
Others
Example of Connection to MP2200/ MP2300 Motion Module SVA-01
*: represents twisted-pair wires.
Notes: 1 Connection cables (model: J EPMC-W 2040-) to connect the SERVOPACK to the MP2200/MP2300 are provided by Yaskawa. For details,
see Machine Controller MP2200/MP2300 Motion Module Users Manual (manual no. YEA-SIEPC88070016).
2 Only signals applicable to MP2200 / MP2300 Motion Module SVA-01 and Yaskawas SGDV SERVOPACK are shown in the diagram.
4 Note that incorrect connection will cause damage to the Machine Controller and SERVOPACK. Take particular care to wire correctly.
6 The above connection diagram shows only X-axis connection. When using another axes, make connection to the SERVOPACK in the same
way.
7 The normally closed (N.C.) input terminals not to be used at the Machine Controller I/O connector section must be short-circuited at the
connector.
9 The SERVOPACK has a built-in safety function to protect prevent anyone in the vicinity from being injured by unexpected motion. But, in order to
use the function, the circuit for CN8 is required to be configured. When not using the function, use SERVOPACKs with the Safety J umper
Connector connected.
AO_0 (NREF)
PAL
PCL
AI_0 (VTG)
0V (For 24V)
DO_2 (PCON)
DO_3
+24V
DI_2 (ZERO/HOME LS)
SG
PA
PC
SG
AO_1 (TREF)
0V (For 24V)
DO_4
DI_3 (P-OT)
DI_0 (SVALM)
SEN (5V)
DO_5 (SEN for VS866)
PBL
AI-GND
0V (For 24V)
DO_1 (ALMRST)
+24V
DI_5 (EXT/DEC)
SG
AI_1 (TMON)
PB
SG
AO-GND
0V (For 24V)
DO_0 (SV ON)
DI_4 (N-OT)
DI_1 (SRDY)
SG
V-REF
PAO
/PAO
PCO
/PCO
SG
T-REF
ALM
CN1/CN2
/P-CON (Switches the control mode.)
CN1
P-OT
+24V IN
ALM+
ZERO/HOME LS input
P-OT input
N-OT input
EXT/DEC input
Standard analog input
Standard analog input
Analog Input Ground
TGON+(/BRK+)
SG
SEN
/S-RDY-
PBO
/PBO
SG
/ALM RST
/S-ON
N-OT
/S-RDY
BAT
BAT+
Connector shell Connector shell
Holding brake interlock output (+)
ABS encoder battery (0V)
ABS encoder battery (3.6V)
Holding brake interlock output ( )
TGON (/BRK )
/P-CL (Depends on the user settings.)
/N-CL (Depends on the user settings.)
GND
GND
Analog monitor 1 (Torque reference monitor)
Analog monitor 2 (Speed monitor)
CN5
*
SGDV
MP2200/MP2300 Series
SVA-01
Black
Black
White
Red
Cable for Analog Monitor (Model: J ZSP-CA01-E)
(J ZSP-CAS01-E)
7
2
3
4
5
6
19
9
8
10
11
12
13
14
15
16
17
18
1
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
6
5
33
34
19
20
10
9
32
41
45
46
42
47
31
2
4
35
36
28
27
1
30
44
40
43
29
21
22
4
3
2
1
CN2
L1C
L3
L2
L1
L2C
W
V
A
B
C
D
U
Servomotor
M
ENC
C
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n
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c
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n

t
o

H
o
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C
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399
Example of Connection to MP920 4-axis Analog Module SVA-01
CN1 CN1 CN4
Analog voltage/pulse train
reference type SVA-01
MP920 Series
3
4
5
16
7
6
13
12
30
34
29
11
1
14
7
20
28
32
FG
21
22
18
35
10
17
31
2
23
24
20
1
43
42
41
47
4
27
32
30
28
2
29
31
5
6
33
34
35
36
19
44
21
22
40
NREF
SG
PA
PAL
PB
PBL
PC
PCL
SG
+24V OUT
SVON
ALMRST
PCON
OTR
OTF
DOSEN
0V
SEN
SG
0V
0V
SVALM
0V
SVRDY
BRK
BAT
0BAT
V-REF
SG
*
SG
PAO
/PAO
PBO
/PBO
PCO
/PCO
+24V-IN
/S-ON
/ALM-RST
/P-CON
N-OT
P-OT
SEN
SG
/S-RDY
/TGON
ALM+
ALM
/S-RDY+
/TGON+
BAT(+)
BAT( )
Connector shell
CN2
L1C
L3
L2
L1
L2C
W
V
A
B
C
D
U
Servomotor
M
ENC
*: represents twisted-pair wires.
Notes: 1 Connection cables (model: J EPMC-W6050-) to connect the SERVOPACK to the MP920 are provided by Yaskawa. For
details, see Machine Controller MP920 Users Manual Design and Maintenance (manual no. SIEZ-C887-2.1).
2 Only signals applicable to MP920 4-axes Analog Module SVA-01 and Yaskawas SGDV SERVOPACK are shown in the diagram.
4 Note that incorrect connection will cause damage to the Machine Controller and SERVOPACK. Take particular care to wire
correctly.
6 The above connection diagram shows only X-axis connection. When using another axes, make connection to the SERVOPACK
in the same way.
7 The normally closed (N.C.) input terminals not to be used at the Machine Controller I/O connector section must be short-circuited
at the connector.
9 The SERVOPACK has a built-in safety function to protect prevent anyone in the vicinity from being injured by unexpected motion.
But, in order to use the function, the circuit for CN8 is required to be configured. When not using the function, use SERVOPACKs
with the Safety J umper Connector connected.
400
Others
Example of Connection to OMRONs Motion Control Unit
CN2
CN1
3
4
5
16
8
9
13
12
11
19
15
14
18
1
5
6
1
19
20
L1C
L3
L2
L1
L2C
36
34
20
4
BAT *1
35
47
32
W
V
A
B
C
D
U
MC unit manufactured
by OMRON Corporation
DRV connector
Servomotor
reference type
Battery*1
(CV500-MC221 / MC421)
(CS1W-MC221 / MC421)
C200H-MC221
10
10
17
2
4
6
14
1
2
2
31
33
44
21
22
40
ALM+
/S-ON
/ALM-RST
SG
SEN
SG
SG
ALM
PAO
/PAO
PBO
/PBO
PCO
/PCO
V-REF
+24V-IN
24V input
24VDC
24VDC
24V input ground
X-axis alarm input
X-axis alarm reset output
X-axis run reference output
X-axis SEN signal ground
X-axis SEN signal output
X-axis feedback ground
X-axis phase A input
X-axis phase /A input
X-axis phase B input
X-axis phase /B input
X-axis phase Z input
X-axis phase /Z input
X-axis speed reference
Axis speed reference ground
24V output
24V output ground
I/O connector
24V input
X-axis CW limit input
X-axis CCW limit input
X-axis immediate stop input
X-axis origin proximity input
24V input ground
Connector shell
*2
*1
*1
BAT+*1
M
2.8 V to 4.5 VDC
ENC
*1: Use a battery when using an absolute encoder.
No battery is needed for CN1 (between21, 22) when using an encoder cable with a battery.
Battery for CN1 : ER6VC3N (3.6 V, 2000 mA)
Battery for battery unit : J USP-BA01-E (3.6 V, 1000 mA)
*2: represents twisted-pair wires.
Notes: 1 Only signals applicable to OMRON Corporations MC unit and Yaskawas SGDV SERVOPACK are shown in the diagram.
3 Note that incorrect connection will cause damage to the MC unit and SERVOPACK.
Take particular care to wire correctly.
5 The above connection diagram shows only X-axis connection. When using another axes, make connection to the SERVOPACK in
the same way.
6 The normally closed (N.C.) input terminals not to be used at the motion control unit I/O connector section must be short-circuited at
the connector.
8 The SERVOPACK has a built-in safety function to prevent anyone in the vicinity from being injured by unexpected motion. But, in
order to use the function, the circuit for CN8 is required to be configured. When not using the function, use SERVOPACKs with the
Safety J umper Connector connected.
C
o
n
n
e
c
t
i
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n

t
o

H
o
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401
Example of Connection to OMRONs Position Control Unit
CN2
CN1
A3
A5
A6
A7
A4
8
20
25
L1C
L3
L2
L1
L2C
19
12
7
14
15
W
V
A
B
C
D
U
Servomotor
reference type
Position control unit
CS1W-NC133 / 233 / 433
manufactured by OMRON Corporation
A16
A11
A14
A1
A2
A8
A20
A22
A23
A21
A19
11
/SIGN
CLR
/CLR
PCO
PULS
/PULS
SIGN
/PCO
COIN+
/COIN
A24
26
31
32
44
42
43
47
40
+24V-IN
/S-ON
P-OT
N-OT
/ALM-RST
ALM
ALM+ 1Ry
FG
*1
*2
*4
+5V
5V power supply for pulse output
5V GND for pulse output
24V power supply for output
24V GND for output
CCW(+) output
CCW( ) output
CW(+) output
CW( ) output
Origin input signal
Origin input common
Error counter reset output
X-axis CW limit input
X-axis CCW limit input
X-axis immediate stop input
X-axis origin proximity input
X-axis external interrupt input
Input common
Connector shell*3
M
ENC
+
-
+24V
0
24
V
+24V
I/O power supply
*1: The ALM signal is output for five seconds or less when the power is turned ON. Take this into consideration when designing the power
ON sequence. The ALM signal actuates the alarm detection relay 1Ry to stop the main circuit power supply to the SERVOPACK.
*2: Set parameter Pn200.0 =1 or 6.
*3: Connect the shield wire to the connector shell.
*4 represents twisted-pair wires.
Notes: 1 Only signals applicable to OMRON Corporations position control unit and Yaskawas SGDV SERVOPACK are shown in the
diagram.
3 Note that incorrect connection will cause damage to the position control unit and SERVOPACK. Take particular care to wire
correctly.
5 The above connection diagram shows only X-axis connection. When using another axes, make connection to the SERVOPACK in
the same way.
6 The normally closed (N.C.) input terminals not to be used at the position control unit I/O connector section must be short-circuited
at the connector.
8 The SERVOPACK has a built-in safety function to prevent anyone in the vicinity from being injured by unexpected motion. But, in
order to use the function, the circuit for CN8 is required to be configured. When not using the function, use SERVOPACKs with the
Safety J umper Connector connected.
402
Others
Example of Connection to Mitsubishis AD72 Positioning Unit (SERVOPACK in Speed Control)
43
42
1Ry
+
+24V
I/O power supply
0 24 V
+24 V
CONT
SERVO
CN1
ENCO
CN1
STOP
DOG
SV-ON
READY
PULSE A
PULSE C
PULSE B
0V
0V
0V
*
2
1
3
2
1
3
2
4
6
5
4
7
5
8
11
10
3
9
6
*
1
+24V-IN
P-OT
N-OT
ALM+
ALM
V-REF (T-REF)
SG
PAO
SG
/PCO
PCO
/PBO
PBO
/PAO
47
32
31
40
1
20
19
34
33
36
35
5
(9)
6
(10)
/S-ON
1Ry
*
4
0
24
V
Positioning unit
AD72 manufactured
by Mitsubishi
Electric Corporation
reference type
Speed reference
ON when
positioning
is cancelled.
Connector shell*
3
CN2
L1C
L3
L2
L1
L2C
W
V
A
B
C
D
U
Servomotor
M
ENC
ON when
proximity
is detected.
*1: The ALM signal is output for five seconds or less when the power is turned ON. Take this into consideration when designing the power ON
sequence. The ALM signal actuates the alarm detection relay 1Ry to stop the main circuit power supply to the SERVOPACK.
*2: Pin numbers are the same both for X-axis and Y-axis.
*3: Connect the shield wire to the connector shell.
Notes: 1 Only signals applicable to Mitsubishi Electric Corporations AD72 positioning unit and Yaskawas SGDV SERVOPACK are shown in the
diagram.
3 Note that incorrect connection will cause damage to the positioning unit and SERVOPACK. Take particular care to wire correctly.
5 The above connection diagram shows only X-axis connection. When using another axes, make connection to the SERVOPACK in the
same way.
6 The normally closed (N.C.) input terminals not to be used at the positioning unit I/O connector section must be short-circuited at the
connector.
8 The SERVOPACK has a built-in safety function to prevent anyone in the vicinity from being injured by unexpected motion. But, in order
to use the function, the circuit for CN8 is required to be configured. When not using the function, use SERVOPACKs with the Safety
J umper Connector connected.
C
o
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c
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t
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403
Example of Connection to Mitsubishis AD75 Positioning Unit (SERVOPACK in Position Control)
+

+24V
024 V
1Ry
CN1
CN1
STOP
DOG
READY
PGO
PULSE
SIGN
CLEAR
1Ry
*2
*1
2.2k
19
14
Connector shell
FG
15
12
8
7
32
31
20
42
43
40
47
/S-ON
P-OT
N-OT
25
24
14
7
26
23
5
22
4
21
3
+24 V
024 V
+24 V
PULS
CLR
SIGN
/PULS
/CLR
/SIGN
ALM+
ALM
PCO
/PCO
I/O power supply
X-axis(Y-axis)
reference type
11
11
Positioning unit
AD75 manufactured
by Mitsubishi,
CN2
L1C
L3
L2
L1
L2C
W
V
A
B
C
D
U
Servomotor
M
ENC
ON when
positioning
is cancelled.
ON when
proximity
is detected.
Notes: 1 Only signals applicable to Mitsubishi Electric Corporations AD75 positioning unit and Yaskawas SGDV SERVOPACK are shown in the
diagram.
same way.
connector.
404
Others
Example of Connection to Mitsubishis QD75D Positioning Unit (SERVOPACK in Positioning Control)
Notes: 1 Only signals applicable to Mitsubishi Electric Corporations QD75D positioning unit and Yaskawas SGDV SERVOPACK are shown in
the diagram.
same way.
connector.
CN1
42
43
40
47
/S-ON
P-OT
N-OT
024 V
+24 V
CN2
L1C
L3
L2
L1
L2C
W
V
A
B
C
D
U
M
ENC
Positioning unit
QD75D manufactured
by Mitsubishi
DOG 3
FLS 1
RLS 2
STOP 4
READY 11
READY COM 12
COM 6
COM 7
PULSE R+ 17
PULSE R 18
PULSE F+ 15
PULSE F 16
PG05 9
PG COM 10
CLEAR 13
CLEAR COM 14
11 SIGN
12 /SIGN
7 PULS
8 /PULS
19 PCO
20
/PCO
15 CLR
14 /CLR
31 ALM+
32 ALM
2.2k
1Ry
*2
*1
+

+24V
024 V
+24 V
1Ry
ON when positioning
is cancelled.
ON when proximity
is detected.
CN1
I/O power supply
Servomotor
reference type
C
o
n
n
e
c
t
i
o
n

t
o

H
o
s
t

C
o
n
t
r
o
l
l
e
r
FOLD
Yaskawa America, Inc.
Drives & Motion Division
2121 Norman Drive South
Waukegan, IL 60085
Tel: 1-800-YASKAWA (927-5292) Fax: 1-847-887-7310
MotionSupport@yaskawa.com www.yaskawa.com
Document YEA-KAEPS80000042 Rev: K-3 5/21/2014 2011-2014

Yea Kaeps800000042k

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FOLD

SERVOPACK End Servomotor End

SERVOPACK End Servomotor End

Cable with Connectors

Cable with a Battery Case

Signal Wire Color

Cable with Connectors

Cable with a Battery Case

Cable with Connectors

Cable with a Battery Case

Cable with Connectors

Cable with a Battery Case

Cables for Connecting

Cables for Connecting Serial

Cables for Connecting Hall

Cables for Connecting

Cables for Connecting

Cables for Connecting Hall

Cables for Connecting

Cables for Connecting Serial

Cables for Connecting Hall

5 Data + Light Blue

Connection Cable Between Fully Closed Loop Connector

(For servo alarm

1.0 3R5D 2.3 2.9

SERVOPACK End Power Supply End

SERVOPACK End Power Supply End

Power Supply Cable

Wiring Main Circuit and Peripheral Devices

Wiring Main Circuit and Peripheral Devices

Wiring Main Circuit and Peripheral Devices

Motor shaft rotation speed Gear ratio 1/R = 1/2 (R=2)

Linear motion section JL1 = m = 250 = 1.58 10

(2) Rotation Speed

(4) Load Moment of Inertia

0 100 200 300 400

0 50 100 150 200 250

0 50 100 150 200 250

0 200 400 600

0 200 400 600

(i) SGLTW Linear Servomotors (contd)

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